Full-automatic container loading machine and loading method thereof

Abstract

The present application relates to a kind of container full-automatic car loader and its loading method, belong to a kind of logistics loading equipment.The technical scheme used in the present application includes: the double-layer telescopic conveyor of container full-automatic car loader rear end, the elastic buffer conveyor in the middle and the stacking trolley in the front end.Double-layer telescopic conveyor includes upper fixed conveyor and lower telescopic conveyor, the rack of upper conveyor is fixed on conveyor rack, the rack of lower conveyor is provided with slide rail mechanism on both sides, the slide portion of slide rail structure is fixed on conveyor rack, lower conveyor can slide forward and backward along slide rail mechanism, lower layer slides forward and forms upper and lower staggered connection with upper conveyor;The bottom of the chassis of stacking trolley is provided with moving wheel group, and lifting frame and lifting platform are arranged above, lifting platform is arranged on lifting frame to realize up and down, and unloading mechanical arm and spring buffer conveyor are installed above lifting platform.

Description

Technical Field

[0001] This invention relates to a fully automatic container loading machine and its loading method, belonging to the category of logistics loading equipment. Background Technology

[0002] Currently, for box trucks, due to their semi-enclosed structure, they can only be moved into the cargo compartment by a conveyor and then placed manually or by a robotic arm; or they can be moved into the cargo compartment by a forklift and placed by picking up pallets.

[0003] Conveyors are used in conjunction with robotic arms, but the robotic arms are inefficient. Current articulated robotic arms require significant height space, making them unsuitable for box trucks. Manual placement is also unsuitable for loading large quantities of goods.

[0004] When using forklifts to pick up pallets with low density, especially for bagged goods, low density can lead to poor transportation efficiency. Summary of the Invention

[0005] This invention provides a fully automated container loading machine, which solves the problem of efficient automated loading in the confined space of trucks.

[0006] To achieve the above objectives, the technical solution adopted by the present invention includes:

[0007] The fully automated container loading machine consists of a double-layer telescopic conveyor at the rear, a flexible buffer conveyor in the middle, and a palletizing trolley at the front.

[0008] The double-layer telescopic conveyor includes an upper fixed conveyor and a lower telescopic conveyor. The frame of the upper conveyor is fixed to the conveyor frame, and the frame of the lower conveyor is equipped with a slide rail mechanism on both sides. The slide rail section is fixed to the conveyor frame. The lower conveyor can slide back and forth along the slide rail mechanism. The lower conveyor slides forward and forms an alternating connection with the upper conveyor. The bottom of the palletizing trolley chassis is equipped with a set of movable wheels, and a lifting frame and a lifting platform are installed on top. The lifting platform is set on the lifting frame to achieve vertical lifting. The unloading robotic arm and spring-loaded conveyor are installed on top of the lifting platform.

[0009] The unloading robotic arm is set on the lifting platform of the palletizing trolley, including a parallel robotic arm and a turning unloading plate. The fixed platform of the parallel robotic arm is set on the lifting platform, and the turning unloading plate is set on the moving platform end of the parallel robotic arm. The turning unloading plate is equipped with unloading rollers arranged horizontally and vertically, and the unloading rollers are driven to rotate by an unloading motor.

[0010] The flexible buffer conveyor is connected to the unloading plate at the front end and to the lower layer of the double-layer conveyor at the rear end. It includes cross supports on both sides and parallel conveying rollers at the top. The roller shafts of the conveying rollers are set at the top of the cross supports. The cross supports at the bottom of each set of conveying rollers are connected front and back. When the height of the cross supports is reduced, the distance between adjacent conveying rollers is extended.

[0011] According to the fully automatic container loading machine, the double-layer telescopic conveyor has slide rails on both sides of the conveyor frame and sliders on both sides of the lower conveyor frame. The sliders move in the slide rails to extend or retract the lower conveyor forward or backward. The lower conveyor is connected to a palletizing trolley. When the palletizing trolley moves, it pulls the lower conveyor forward or backward.

[0012] According to the fully automatic container loading machine, the lifting frame is installed on the chassis of the palletizing trolley. The lifting frame is a cross lifting mechanism, including symmetrically arranged scissor forks and lifting hydraulic cylinders that drive the scissor forks. The top of the scissor forks is connected to the lifting platform, and the bottom of the scissor forks is the lifting drive hydraulic cylinder.

[0013] According to the fully automated container loading machine described above, the unloading robotic arm is a three-degree-of-freedom parallel robot, including three sets of electric push rods and one set of telescopic guide rods. Two sets of electric push rods are located at the top and one set is located at the bottom. The front ends of the three sets of electric push rods are connected to the moving platform, and the rear ends are connected to the fixed platform through Hooke hinges. The fixed platform is fixed to the lifting platform, and the moving platform is equipped with the steering unloading plate.

[0014] According to the fully automatic container loading machine, the moving platform is divided into a hinged frame and a fixed base plate. The hinged frame is hinged to the fixed base plate. Three sets of electric push rods are respectively hinged to the top and bottom of the hinged frame. An angle-adjusting hydraulic telescopic cylinder is provided between the upper part of the hinged frame and the fixed base plate. The angle-adjusting hydraulic telescopic cylinder extends and retracts to adjust the angle between the hinged frame and the fixed base plate.

[0015] According to the fully automatic container loading machine, the unloading plate is connected to the fixed base plate by a rotary bearing. The rotary bearing is equipped with a rotary motor that drives the unloading plate to swing horizontally around the fixed base plate. The unloading plate is equipped with unloading rollers arranged laterally and longitudinally, and the laterally unloading rollers and the longitudinally unloading rollers are driven by each other.

[0016] According to the fully automatic container loading machine, the top of the fixed base plate is provided with a conveyor connecting plate, which is used to fix the front end of the elastic buffer conveyor. The fixed platform is a rectangular frame, and the rear ends of the three sets of electric push rods of the three-degree-of-freedom parallel robot are connected to the Hooke hinge in the rectangular frame. The rear end of the elastic buffer conveyor is fixed to the top of the fixed platform.

[0017] According to the fully automatic container loading machine, a connecting conveyor is provided between the top of the fixed platform and the lower conveyor of the telescopic conveyor. The front end of the connecting conveyor is hinged to the fixed platform, and the rear end is hinged to the frame of the lower conveyor of the telescopic conveyor.

[0018] The loading method of the fully automated container loading machine of the present invention includes the following steps:

[0019] 1) The palletizing trolley moves to the loading position, and the lower conveyor of the telescopic conveyor extends forward to the loading position under the drive of the palletizing trolley;

[0020] 2) The lifting frame of the palletizing trolley drives the three-degree-of-freedom parallel robot to rise and fall to the palletizing height;

[0021] 2) The material passes through the upper conveyor of the telescopic conveyor, falls to the lower conveyor, and then falls to the elastic buffer conveyor, which then conveys it to the unloading plate of the palletizing trolley.

[0022] 3) The three-degree-of-freedom parallel robot on the palletizing trolley drives the unloading plate to swing left or right to the palletizing position, and the unloading plate rotates to the unloading direction;

[0023] 4) The unloading rollers on the unloading plate rotate, causing the material on the unloading plate to fall to the stacking position;

[0024] 5) Repeat steps 1-4 to achieve automatic repeating of palletizing and loading.

[0025] The advantages of this invention are: this device uses a mobile palletizing trolley to drive a parallel robotic arm for loading, which is more efficient than articulated robotic arms in terms of transport and palletizing.

[0026] The telescopic conveyor allows for deep transport into the cargo compartment, from high to low, reducing the space required for lifting equipment. The parallel robotic arm can swing left and right and lift and lower, requiring minimal loading space. The front unloading plate is equipped with horizontally and vertically arranged rollers that can be placed horizontally, allowing for adjustment of the cargo placement angle to suit various loading requirements within the truck and achieve high-density loading. Attached Figure Description

[0027] Figure 1 This invention is installed on a vehicle. Figure 1 ,

[0028] Figure 2 This invention is installed on vehicles. Figure 2 ,

[0029] Figure 3 This invention relates to a palletizing trolley structure. Figure 1 ,

[0030] Figure 4 This invention relates to a palletizing trolley structure. Figure 2 ,

[0031] Figure 5 This is a structural diagram of the steering unloading plate of the present invention.

[0032] Figure 6 This is a partial structural diagram of the steering unloading plate of the present invention.

[0033] Figure label:

[0034] 1. Palletizing trolley; 11. Chassis; 12. Moving wheel set; 13. Lifting frame; 14. Lifting platform; 15. Lifting drive hydraulic cylinder; 2. Unloading robotic arm; 21. Moving platform end; 22. Fixed platform; 23. Parallel robotic arm; 24. Steering unloading plate; 25. Telescopic guide rod; 26. Articulated frame; 27. Fixed base plate; 28. Hooke hinge; 29. ​​Unloading roller; 3. Elastic buffer conveyor; 31. Cross support; 32. Conveyor roller; 33. Roller shaft; 34. Height guide rod; 35. Cross linkage; 4. Double-layer telescopic conveyor; 41. Upper layer conveyor; 42. Lower layer conveyor; 43. Slide rail; 44. Slider; 45. Conveyor frame; 5. Connecting conveyor; 6. Cargo truck; 7. Fixed platform; 8. Goods. Detailed Implementation

[0035] The specific structure of the present invention will be further described below:

[0036] The present invention relates to a fully automatic container loading machine, comprising a front-end unloading robotic arm, a palletizing trolley, a spring-loaded conveyor, and a double-layer telescopic conveyor.

[0037] The components of this invention will be described in detail below:

[0038] The double-layer telescopic conveyor 4 includes a fixed upper conveyor 41 and a telescopic lower conveyor 42. The frame of the upper conveyor 41 is fixed to the conveyor frame. The frame of the lower conveyor 42 is equipped with slide rail mechanisms on both sides. The slide rail section is fixed to the conveyor frame. The lower conveyor 42 can slide back and forth along the slide rail mechanism. When the lower conveyor slides forward, it forms an alternating connection with the upper conveyor 41. A fixed platform is set on the conveyor frame, and the height of the fixed platform is the same as the height of the truck bed.

[0039] The palletizing trolley 1 has a chassis 11 with a set of movable wheels 12 at its bottom. A lifting frame 13 and a lifting platform 14 are mounted on top. The lifting platform 14 is positioned on the lifting frame 13 for vertical movement. A unloading robotic arm 2 and a spring-loaded conveyor are installed above the lifting platform 14. The movable wheels enable the palletizing trolley to move forward or backward to reach the loading and palletizing position. The palletizing trolley 1 moves between a fixed platform and a freight truck. When there is no freight truck, it retreats to the fixed platform; when there is cargo, it moves forward into the freight truck's cargo compartment.

[0040] The unloading robotic arm 2 is mounted on the lifting platform 14 of the palletizing trolley 1. It includes a parallel robotic arm 23 and a steering unloading plate 24. The fixed platform 22 of the parallel robotic arm 23 is mounted on the lifting platform 14, and the steering unloading plate 24 is mounted on the moving platform end 21 of the parallel robotic arm 23. The steering unloading plate 24 is equipped with unloading rollers arranged laterally and longitudinally, and the unloading rollers are driven to rotate by an unloading motor. The unloading robotic arm 2 picks up the goods, adjusts its angle, and then unloads them, thus realizing the palletizing process.

[0041] The front end of the elastic buffer conveyor 3 is connected to the unloading plate, and the rear end is connected to the lower conveyor 42 of the double-layer conveyor. It includes cross supports 31 on both sides and parallel conveying rollers 32 on the top. The roller shafts 33 of the conveying rollers 32 are set on the top of the cross supports 31. The cross supports 31 at the bottom of each set of conveying rollers 32 are connected front and back. When the height of the cross supports 31 is reduced, the distance between adjacent conveying rollers 32 is extended.

[0042] Specifically, the double-layer telescopic conveyor 4 has slide rails on both sides of the conveyor frame, and the lower conveyor 42 has sliders on both sides of the frame. The sliders move in the slide rails to extend or retract the lower conveyor 42 forward or backward. The lower conveyor 42 is connected to the palletizing trolley 1. When the palletizing trolley 1 moves, it pulls the lower conveyor 42 to extend or retract forward or backward.

[0043] Furthermore, the palletizing trolley 1 is equipped with the aforementioned lifting frame 13 on its chassis 11. The lifting frame 13 is a scissor fork lifting mechanism, including symmetrically arranged scissor forks and lifting drive hydraulic cylinders that drive the scissor forks. The top of the scissor forks is connected to the lifting platform 14, and the bottom of the scissor forks is the lifting drive hydraulic cylinder 15.

[0044] In this invention, the unloading robotic arm is a three-degree-of-freedom parallel robot. 3UPS-UPU represents a Hooke's joint with two rotational degrees of freedom; P represents a prismatic joint with one translational degree of freedom; and S represents a ball joint with three rotational degrees of freedom. It has two rotational degrees of freedom and one translational degree of freedom around the X and Y axes, and a translational degree of freedom along the Z direction. Specifically, the three-degree-of-freedom parallel robot is configured with three sets of parallel robotic arms 23 and one set of telescopic guide rods 25. Two sets of the three sets of electric push rods are located at the top, and one set is located at the bottom. The front ends of the three sets of electric push rods are connected to the moving platform end, and the rear ends are connected to the fixed platform 22 via a Hooke's joint 28. The fixed platform 22 is fixed to the lifting platform 14, and the moving platform end is equipped with the steering unloading plate 24.

[0045] The moving platform end is divided into a hinge frame 26 and a fixed base plate 27. The hinge frame 26 is hinged to the fixed base plate 27. Three sets of electric push rods are respectively hinged to the top and bottom of the hinge frame 26. An angle-adjusting hydraulic telescopic cylinder is provided between the upper part of the hinge frame 26 and the fixed base plate 27. The angle-adjusting hydraulic telescopic cylinder extends and retracts to adjust the angle between the hinge frame 26 and the fixed base plate 27.

[0046] The unloading plate is connected to the fixed base plate 27 via a rotary bearing. The rotary bearing is equipped with a rotary motor that drives the unloading plate to swing horizontally around the fixed base plate 27. The unloading plate is equipped with unloading rollers arranged laterally and longitudinally, and the lateral unloading rollers and the longitudinal unloading rollers are driven by each other.

[0047] The top of the fixed base plate 27 is provided with a conveyor connecting plate, which is used to fix the front end of the elastic buffer conveyor 3. The fixed platform 22 is a rectangular frame. The rear ends of the three sets of electric push rods of the three-degree-of-freedom parallel robot are connected to the Hooke hinge 28 in the rectangular frame. The rear end of the elastic buffer conveyor 3 is fixed to the top of the fixed platform 22.

[0048] A connecting conveyor 5 is provided between the top of the fixed platform 22 and the lower conveyor 42 of the telescopic conveyor. The front end of the connecting conveyor 5 is hinged to the fixed platform 22, and the rear end is hinged to the frame of the lower conveyor 42 of the telescopic conveyor. As the palletizing trolley moves, the connecting conveyor 5 drives the lower conveyor at the rear to move forward. At the same time, the front end of the connecting conveyor 5 rises and falls synchronously with the lifting platform to connect with the elastic buffer conveyor in front for material conveying.

[0049] The operation of this invention will be described in detail. The loading method of the fully automated container loading machine of this invention includes the following steps.

[0050] 1) The palletizing trolley 1 moves to the loading position inside the truck, and the lower conveyor 42 of the telescopic conveyor extends forward to the loading position under the drive of the palletizing trolley 1.

[0051] 2) The lifting frame 13 of the palletizing trolley 1 drives the three-degree-of-freedom parallel robot to rise and fall to the palletizing height;

[0052] 2) The material passes through the upper conveyor 41 of the telescopic conveyor, falls to the lower conveyor 42, and then falls to the elastic buffer conveyor 3. The elastic buffer conveyor 3 conveys the material to the unloading plate of the palletizing trolley 1.

[0053] 3) The three-degree-of-freedom parallel robot on the palletizing trolley 1 drives the unloading plate to swing left or right to the palletizing position, and the unloading plate rotates to the material placement direction;

[0054] 4) The unloading rollers on the unloading plate rotate, causing the material on the unloading plate to fall to the stacking position;

[0055] 5) Repeat steps 1-4 to achieve automatic repeating of palletizing and loading.

[0056] This device uses a mobile palletizing trolley to drive a parallel robotic arm for loading, which is more efficient than articulated robotic arms in terms of transport and palletizing. It uses a telescopic conveyor to reach deep into the truck bed and transport goods from high to low, which can reduce the equipment space required for lifting goods. The parallel robotic arm can swing left and right and lift up and down, requiring less loading space. The unloading plate at the front end is equipped with horizontally and vertically arranged rollers and can be placed horizontally, which can adjust the placement angle of goods to suit various loading requirements in trucks and achieve high-density loading requirements.

Claims

1. A fully automated container loading machine, characterized in that it includes, The double-layer telescopic conveyor (4) includes a fixed upper conveyor (41) and a telescopic lower conveyor (42). The frame of the upper conveyor (41) is fixed on the conveyor frame. The frame of the lower conveyor (42) is provided with a slide rail mechanism on both sides. The slide rail part of the slide rail structure is fixed on the conveyor frame. The lower conveyor (42) can slide back and forth along the slide rail mechanism. The lower slides forward and forms an alternating connection with the upper conveyor (41). The palletizing trolley (1) has a set of movable wheels (12) at the bottom of the chassis (11), and a lifting frame (13) and a lifting platform (14) are set on the top. The lifting platform (14) is set on the lifting frame (13) to achieve up and down lifting. The unloading robot arm (2) and the spring buffer conveyor are installed on the top of the lifting platform (14). The unloading robotic arm (2) is set on the lifting platform (14) of the palletizing trolley (1), including a parallel robotic arm (23) and a turning unloading plate (24). The fixed platform (22) of the parallel robotic arm (23) is set on the lifting platform (14), and the turning unloading plate (24) is set on the moving platform end (21) of the parallel robotic arm (23). The turning unloading plate (24) is provided with unloading rollers arranged horizontally and vertically, and the unloading rollers are driven to rotate by an unloading motor. The elastic buffer conveyor (3) is connected to the front end of the steering unloading plate (24) and the rear end of the lower layer conveyor (42) of the double-layer telescopic conveyor. It includes cross supports (31) on both sides and parallel conveying rollers (32) on the top. The roller shaft (33) of the conveying roller (32) is set on the top of the cross supports (31). The cross supports (31) at the bottom of each set of conveying rollers (32) are connected front and back. When the height of the cross supports (31) is reduced, the distance between adjacent conveying rollers (32) is extended. The unloading robot arm (2) is a three-degree-of-freedom parallel robot, including three sets of parallel robot arms (23) and one set of telescopic guide rods (25). Two sets of electric push rods are located at the top and one set is located at the bottom. The front end of the three sets of electric push rods is connected to the moving platform, and the rear end is connected to the fixed platform (22) through the Hooke hinge (28). The fixed platform (22) is fixed on the lifting platform (14), and the moving platform is equipped with the steering unloading plate (24). The moving platform is divided into a hinge frame (26) and a fixed base plate. The hinge frame (26) is hinged to the fixed base plate. Three sets of electric push rods are hinged to the top and bottom of the hinge frame (26) respectively. An angle-adjusting hydraulic telescopic cylinder is provided between the upper part of the hinge frame (26) and the fixed base plate. The angle-adjusting hydraulic telescopic cylinder extends and retracts to adjust the angle between the hinge frame (26) and the fixed base plate. The fixed base plate is connected to the steering unloading plate (24) by a rotary bearing. The rotary bearing is equipped with a rotary motor to drive the steering unloading plate (24) to swing horizontally around the fixed base plate. The steering unloading plate (24) is equipped with unloading rollers arranged horizontally and vertically. The horizontal unloading rollers and the vertical unloading rollers are driven by each other. The top of the fixed base plate is provided with a conveying connection plate, which is used to fix the front end of the elastic buffer conveyor (3). The fixed platform (22) is a rectangular frame. The rear ends of the three sets of electric push rods of the three-degree-of-freedom parallel robot are connected to the Hooke hinge (28) in the rectangular frame. The rear end of the elastic buffer conveyor (3) is fixed to the top of the fixed platform (22).

2. The fully automated container loading machine according to claim 1, characterized in that, The double-layer telescopic conveyor (4) has slide rails on both sides of the conveyor frame, and the lower conveyor (42) has sliders on both sides of the frame. The sliders move in the slide rails to make the lower conveyor (42) extend forward or backward. The lower conveyor (42) is connected to the palletizing trolley (1). When the palletizing trolley (1) moves, it pulls the lower conveyor (42) to extend forward or backward.

3. The fully automated container loading machine according to claim 1, characterized in that, The palletizing trolley (1) has a lifting frame (13) on its chassis (11). The lifting frame (13) is a scissor fork lifting mechanism, which includes symmetrically arranged scissor forks and lifting drive hydraulic cylinders that drive the scissor forks. The top of the scissor forks is connected to the lifting platform (14), and the bottom of the scissor forks is a lifting drive hydraulic cylinder (15).

4. The fully automatic container loading machine according to claim 1, characterized in that, A connecting conveyor (5) is provided between the top of the fixed platform (22) and the lower conveyor (42) of the double-layer telescopic conveyor. The front end of the connecting conveyor (5) is hinged to the fixed platform (22), and the rear end is hinged to the frame of the lower conveyor (42) of the double-layer telescopic conveyor.

5. A loading method for a fully automated container loading machine as described in claim 1, characterized in that, Includes the following steps, 1) The palletizing trolley (1) moves to the loading position, and the lower conveyor (42) of the double-layer telescopic conveyor extends forward to the loading position under the drive of the palletizing trolley (1); 2) The lifting frame (13) of the palletizing trolley (1) drives the three-degree-of-freedom parallel robot to rise and fall to the palletizing height; 3) The material passes through the upper conveyor (41) of the double-layer telescopic conveyor, falls to the lower conveyor (42), and then falls to the elastic buffer conveyor (3). The elastic buffer conveyor (3) conveys the material to the turning unloading plate of the palletizing trolley (1). 4) The three-degree-of-freedom parallel robot on the palletizing trolley (1) drives the steering unloading plate to swing to the left or right to the palletizing position, and the steering unloading plate rotates to the material placement direction; 5) The unloading rollers on the turning unloading plate rotate, causing the material on the turning unloading plate to fall into the stacking position; 6) Repeat steps 1)-5) to achieve automatic repeating of palletizing and loading.

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