Coiled material loading system

Abstract

The invention relates to the technical field of coiled material transportation, in particular to a coiled material loading system. In the embodiment of the invention, the coiled material loading system comprises a truss, a conveying device, a tray arranging machine and a goods taking device. The conveying device and the tray arranging machine are arranged on the truss, the conveying device is used for receiving a whole support of goods, the whole support of goods comprises a tray and a coiled material arranged on the tray, and the conveying device and the tray arranging machine are sequentially arranged in the conveying direction of the conveying device; the goods taking device is movably arranged on the truss and used for grabbing the coiled materials on the conveying device and placing the coiled materials on a truck. And under the condition that the goods taking device grabs away the coiled materials on the conveying device, the conveying device can convey the trays into the tray arrangement machine. According to the coiled material loading system, coiled materials can be automatically carried, trays can be arranged, manual operation is not needed, and therefore the labor intensity of workers is reduced, and the carrying efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of coil transportation, and in particular to a coil loading system. Background Art

[0002] In industries such as railways, real estate, military industry and ships, various types of waterproof materials are often used. Waterproof rolls are one of the materials that are unfolded into a flat surface for use, and the products are packaged and transported in rolls. They are convenient to use and have a large market demand. At present, in production factories, the loading of waterproof rolls is mostly outsourced. Workers operate forklifts to load the goods onto trucks, and workers on the carriages carry and arrange them, loading them roll by roll. The rolls in the carriages need to be placed upright and staggered to prevent them from being scattered and tipped over. The weight of a single roll of rolls is heavy, ranging from tens of kilograms to hundreds of kilograms, resulting in greater labor intensity for workers and lower handling efficiency. Summary of the invention

[0003] The present application provides a coil loading system, which solves the technical problems in the related art that workers have high labor intensity and low handling efficiency in carrying coils.

[0004] The present application provides a coil loading system for transporting coils to a truck, the coil loading system comprising:

[0005] truss;

[0006] A conveyor device and a pallet collator are arranged on the truss, the conveyor device is used to receive a whole pallet of goods, and the conveyor device and the pallet collator are arranged in sequence along the transport direction of the conveyor device; wherein the whole pallet of goods includes a pallet and a coil arranged on the pallet;

[0007] A pickup device, movably disposed on the truss, for grabbing the coil on the conveying device and placing the coil on the truck;

[0008] Wherein, when the picking device grabs the coil on the conveying device, the conveying device can transport the pallet to the pallet sorting machine.

[0009] In some embodiments, the coil loading system further comprises a palletizing device movably disposed on the truss, the pickup device is capable of grabbing a plurality of the coils, the palletizing device is capable of docking with the pickup device to receive the plurality of coils, and placing the plurality of coils on the truck.

[0010] In some embodiments, the picking device includes a robotic arm and a clamp arranged on the robotic arm, and the robotic arm can move the clamp to extend into the hollow portion of the coil so that the clamp fixes the coil, and the robotic arm can move the clamp to dock with the palletizing device.

[0011] In some embodiments, when the clamp extends into the hollow portion of the coil, the clamp can be opened and pressed against the inner wall of the hollow portion to fix the coil; when the palletizing device is docked with the picking device, the clamp can be tightened to disengage from the inner wall of the hollow portion to loosen the coil.

[0012] In some embodiments, the clamp includes a mounting bracket, two clamps disposed on the mounting bracket, and a first driving mechanism; the mounting bracket is disposed at the movable end of the robotic arm, and the first driving mechanism can drive the two clamps to move relative to or away from each other.

[0013] In some embodiments, the first driving mechanism includes a first driving component, a mounting seat and two connecting rods arranged on both sides of the mounting seat, wherein the mounting seat is located between the two clamps, one end of the connecting rod is hinged to the mounting seat, and the other end is hinged to the clamp on the same side, the first driving component is connected to the mounting seat in a transmission connection, and can drive the mounting seat to move along the length direction of the clamp so that the two clamps move relative to or away from each other.

[0014] In some embodiments, the outer peripheral surfaces of the two clamps are arc-shaped and consistent with the arc of the inner wall of the hollow portion.

[0015] In some embodiments, the picking device is located above the conveying device and is movable along the length direction of the truss.

[0016] In some embodiments, the truss can accommodate the truck, and the truck can be arranged side by side with the conveyor along the width direction of the truss.

[0017] In some embodiments, the palletizing device is located above the truck, and the palletizing device can move along the length, width and height directions of the truss respectively, and the range of movement of the palletizing device along the width direction of the truss covers the truck, so that the palletizing device can be moved onto the truck.

[0018] In some embodiments, the stacking device includes a mounting member, a base plate, and a second driving mechanism disposed on the base plate, wherein the base plate is movably disposed at the bottom of the mounting member to form a stacking cavity with one side of the mounting member; wherein, when the base plate contacts the truck, the second driving mechanism can drive the base plate to move toward the other side of the mounting member so that a plurality of the coils can be placed on the truck.

[0019] In some embodiments, the stacking device also includes two first sliding members fixedly connected to the mounting member, the base plate includes a mounting portion and sliding portions respectively arranged on both sides of the mounting portion, the two first sliding members are arranged corresponding to the sliding portions, and the first sliding member is slidably arranged on the corresponding sliding portions, and the second driving mechanism is provided on both sliding portions, and the second driving mechanism is used to drive the corresponding sliding portion to slide relative to the first sliding member.

[0020] In some embodiments, the sliding portion has an installation cavity, and the corresponding second driving mechanism is arranged in the installation cavity. The second driving mechanism includes a second driving component and a transmission member, and the transmission member is fixedly connected to the inner wall of the installation cavity. The second driving component is transmission-connected to the transmission member and can drive the transmission member to move.

[0021] In some embodiments, the installation cavity has an opening facing the installation member, and the transmission member is inserted into the opening and can support the coiled material.

[0022] In some embodiments, the coil loading system includes a driving member, a second sliding member and a vertical track arranged on the truss, the second sliding member slidingly cooperates with the vertical track, the stacking device is hinged to the second sliding member, and the driving member is arranged on the second sliding member; wherein, when the stacking device is docked with the picking device, the driving member can drive the stacking device to rotate to the side away from the stacking cavity.

[0023] The beneficial effects of this application are as follows:

[0024] The present application provides a coil loading system. When a whole pallet of goods is placed on a conveying device, a picking device can grab the coils on the conveying device and place the coils on a truck, thereby realizing automatic loading of the coils. When the picking device grabs the coils on the conveying device, the conveying device can transport the pallet to a pallet sorting machine, thereby realizing automatic sorting of the pallets. That is, the coil loading system can automatically transport the coils and sort the pallets without manual operation, thereby reducing the labor intensity of workers and improving the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention.

[0026] Figure 1 The schematic diagram of the structure of the coil loading system is shown.

[0027] Figure 2A structural schematic diagram of the coil loading system from another perspective is shown.

[0028] Figure 3 Shows Figure 1 The local structure of Figure 1 .

[0029] Figure 4 Shows Figure 3 A partial enlarged view of point A in the middle.

[0030] Figure 5 Shows Figure 1 Schematic diagram of the structure of the pickup device.

[0031] Figure 6 Shows Figure 5 A partial enlarged view of point B in the middle.

[0032] Figure 7 Shows Figure 1 The local structure of Figure 2 .

[0033] Figure 8 Shows Figure 1 Schematic diagram of the structure of the medium palletizing device.

[0034] Fig. 9 Shows Figure 8 The local structure of Figure 1 .

[0035] Fig.10 Shows Figure 8 The local structure of Figure 2 .

[0036] Fig.11 Shows Figure 1 Schematic diagram of the structure of the medium palletizing device from another perspective.

[0037] Description of reference numerals:

[0038] 10-coil loading system, 100-truss, 110-first longitudinal track, 120-second longitudinal track, 130-transverse track, 140-vertical track, 200-conveyor, 300-pallet sorter, 400-picking device, 410-mechanical arm, 420-clamp, 421-mounting bracket, 422-clamp body, 423-first drive mechanism, 4231-drive motor, 4232-drive screw, 4233-mounting seat, 4234-connecting rod, 500-palletizing Position, 510-mounting part, 511-stacking cavity, 520-bottom plate, 521-mounting part, 522-sliding part, 5221-slide rail, 5222-mounting cavity, 5223-opening, 530-second driving assembly, 531-gear, 532-rack, 533-transmission part, 540-first sliding part, 550-driving part, 560-second sliding part, 600-forklift, 700-truck, 800-pallet of goods, 810-coil, 811-hollow part, 820-pallet. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] See also Figure 1 The embodiment of the present application provides a coil loading system 10 for transporting coils 810 to a truck 700. The coil loading system 10 provided in the embodiment of the present application can automatically transport the coils 810 and organize the pallets 820 without manual operation, thereby reducing the labor intensity of workers and improving the transportation efficiency.

[0044] See also Figure 1-Figure 3 In the embodiment of the present application, the coil loading system 10 includes a truss 100, a conveyor device 200, a palletizer 300 and a pickup device 400. The conveyor device 200 and the palletizer 300 are arranged on the truss 100. The conveyor device 200 is used to receive a whole pallet of goods 800. The whole pallet of goods 800 includes a pallet 820 and a coil 810 arranged on the pallet 820. The conveyor device 200 and the palletizer 300 are arranged in sequence along the transportation direction of the conveyor device 200; the pickup device 400 is movably arranged on the truss 100, and is used to grab the coil 810 on the conveyor device 200 and can place the coil 810 on the truck 700.

[0045] When the picking device 400 grabs the coil 810 on the conveying device 200 , the conveying device 200 can transport the pallet 820 to the pallet sorting machine 300 .

[0046] The truss 100 is a basic component of the coil loading system 10 and can provide an installation base for at least some other components of the coil loading system 10 so that at least some other components of the coil loading system 10 can be integrated together to facilitate the coordinated work between the various components of the coil loading system 10.

[0047] The conveying device 200 is used to receive the palletized goods 800 outputted from the warehouse and has a conveying function. The palletized goods 800 outputted from the warehouse are placed on the conveying device 200 by the forklift 600. Specifically, the conveying device 200 can adopt a long straight chain conveyor.

[0048] It should be noted that the truss 100 is made of a steel structure, and for ease of assembly, the truss 100 is roughly rectangular. For ease of description, the height direction, width direction, and length direction of the truss 100 are defined separately. When the truss 100 is in use, the vertical direction is the height direction, and the projection of the truss 100 in the vertical direction is a rectangle, the direction of the long side is the length direction, and the direction of the wide side is the width direction.

[0049] Similarly, for the convenience of description, six directions are defined, namely, top, bottom, left, right, front, and back. In the height direction Z, the direction close to the top surface is top, and the direction close to the bottom surface is bottom. The two directions in the width direction X are left and right respectively. The transport direction of the conveyor 200 is set along the length direction Y of the truss 100, and in the length direction Y of the truss 100, the side of the conveyor 200 receiving the whole pallet of goods 800 is the front, and the opposite side is the back, that is, the transport direction of the conveyor 200 is from front to back.

[0050] The pallet sorter 300 is used to receive the empty pallets 820 that have been disassembled at the front end, and stack multiple pallets 820 upward in sequence for easy recycling. The pallet sorter 300 is a common device in the field of cargo transportation, and its structure and function are not described in detail here. In the embodiment of the present application, any existing pallet sorter 300 can be used without limitation.

[0051] The coil 810 is placed on the pallet 820 and can be directly grabbed. The pickup device 400 can grab one, two or more coils 810 at a time, and there is no limitation on this. Since the pickup device 400 is movably arranged on the truss 100, the pickup device 400 can grab the coil 810 at a specific position through movement, and move it to the position of the truck 700 for loading. Of course, the truck 700 needs to be located where the pickup device 400 can reach. Since the conveyor 200 and the palletizer 300 are arranged in sequence along the transportation direction of the conveyor 200, the pallets 820 left on the conveyor can be transported to the palletizer 300. After the palletizer 300 has sorted a group of pallets 820, they are forked out by the forklift 600 and transferred for storage.

[0052] When the conveying device 200 receives a whole pallet of cargo 800, the picking device 400 will grab the coil 810 on the conveying device 200 and place the coil 810 on the truck 700, thereby realizing automatic loading of the coil 810. After the picking device 400 grabs the coil 810 on the conveying device 200, the conveying device 200 transports the pallet 820 to the pallet sorting machine 300, thereby realizing automatic sorting of the pallet 820. That is, the coil loading system 10 can automatically transport the coil 810 and sort the pallet 820 without manual operation, thereby reducing the labor intensity of workers and improving the transportation efficiency.

[0053] In some embodiments, the coil loading system 10 further includes a palletizing device 500 movably disposed on the truss 100 , the pickup device 400 is capable of grabbing a plurality of coils 810 , the palletizing device 500 is capable of docking with the pickup device 400 to receive the plurality of coils 810 , and placing the plurality of coils 810 on the truck 700 .

[0054] In order to improve loading efficiency, the picking device 400 can grab multiple coils 810 at one time. Since the multiple coils 810 in the car need to be placed upright and staggered and close to prevent them from scattering and tipping over, that is, the multiple coils 810 need to be arranged neatly in the car, the picking device 400 needs to place the multiple coils 810 on the truck 700 through the stacking device 500.

[0055] That is, after the picking device 400 grabs a plurality of coils 810, it docks with the palletizing device 500. After receiving the plurality of coils 810, the palletizing device 500 groups and stacks the plurality of coils 810, and then places the grouped and stacked plurality of coils 810 on the truck 700. Since the palletizing device 500 is also movably arranged on the truss 100, the palletizing device 500 can be moved to the position of the truck 700 for loading, and in the docking process with the picking device 400, the picking device 400 can be actively moved to dock with the palletizing device 500, or the palletizing device 500 can be actively moved to dock with the picking device 400, and there is no limitation on this.

[0056] See also Figure 4 and Figure 5 In some embodiments, the picking device 400 includes a robotic arm 410 and a clamp 420 disposed on the robotic arm 410. The robotic arm 410 can move the clamp 420 to extend into the hollow portion 811 of the coil 810 so that the clamp 420 fixes the coil 810, and the robotic arm 410 can move the clamp 420 to dock with the palletizing device 500.

[0057] The robot arm 410 is installed on the truss 100 and can move linearly, rotate and articulate. The clamp 420 is connected to the movable end of the robot arm 410, so the robot arm 410 can move the clamp 420 to a specific position through movement. For example, the robot arm 410 can move the clamp 420 to the hollow part 811 extending into the coil 810, and can drive the clamp 420 to dock with the palletizing device 500, so as to transfer the coil 810 to the palletizing device 500. Specifically, the robot arm 410 can adopt a KUKA robot.

[0058] The clamp 420 can fix the coil 810 by extending into the hollow portion 811 of the coil 810. One clamp 420 can only fix one coil 810, so multiple clamps 420 can be provided so that the picking device 400 can grab multiple coils 810 at one time.

[0059] When the robot arm 410 drives the clamp 420 to extend into the hollow part 811 of the coil 810 to fix the coil 810, the coil 810 is grabbed, and then the robot arm 410 drives the clamp 420 to dock with the stacking device 500 and release the coil 810, so that the coil 810 can fall onto the stacking device 500.

[0060] In some embodiments, when the clamp 420 extends into the hollow portion 811 of the coil 810, the clamp 420 can be opened and pressed against the inner wall of the hollow portion 811 to fix the coil 810; when the palletizing device 500 is docked with the picking device 400, the clamp 420 can be tightened to disengage from the inner wall of the hollow portion 811 to loosen the coil 810.

[0061] The initial cross-sectional width of the clamp 420 is smaller than the cross-sectional width of the hollow portion 811, so the clamp 420 can extend into the hollow portion 811. When the clamp 420 extends into the hollow portion 811, the clamp 420 can be opened to increase the cross-sectional width, so that it can be pressed against the inner wall of the hollow portion 811, and the friction between the clamp 420 and the inner wall of the hollow portion 811 can enable the clamp 420 to fix the coil 810. When the palletizing device 500 is docked with the pickup device 400, the clamp 420 can be tightened to reduce the cross-sectional width, so that it can be separated from the inner wall of the hollow portion 811 to loosen the coil 810, so that the coil 810 is transferred to the palletizing device 500.

[0062] In some embodiments, the clamp 420 includes a mounting bracket 421, two clamps 422 disposed on the mounting bracket 421, and a first driving mechanism 423. The mounting bracket 421 is disposed at the movable end of the robotic arm 410, and the first driving mechanism 423 can drive the two clamps 422 to move relative to or away from each other.

[0063] The first driving mechanism 423 drives the two clamps 422 to move in opposite directions, that is, the clamp 420 is opened, and the two clamps 422 are respectively pressed against the inner wall of the hollow part 811 to fix the coil 810; the first driving mechanism 423 drives the two clamps 422 to move relative to each other, that is, the clamp 420 is tightened, and the two clamps 422 are separated from the inner wall of the hollow part 811 to release the coil 810.

[0064] See also Figure 6In some embodiments, the first driving mechanism 423 includes a first driving component, a mounting seat 4233 and two connecting rods 4234 arranged relative to the mounting seat 4233, the mounting seat 4233 is located between the two clamps 422, one end of the connecting rod 4234 is hinged to the mounting seat 4233, and the other end is hinged to the clamp 422 on the same side, the first driving component is connected to the mounting seat 4233 in a transmission connection, and can drive the mounting seat 4233 to move along the length direction of the clamp 422, so that the two clamps 422 move relative to or away from each other.

[0065] The length direction of the clamp body 422 is the height direction of the truss 100, and the mounting seat 4233 moves along the length direction of the clamp body 422, that is, the mounting seat 4233 moves up and down between the two clamp bodies 422. The two connecting rods 4234 are arranged at an angle, and since one end of the connecting rod 4234 is hinged to the mounting seat 4233 and the other end is hinged to the clamp body 422 on the same side, the mounting seat 4233 moves up and down between the two clamp bodies 422, which can drive the two connecting rods 4234 to rotate, thereby increasing or decreasing the angle between the two connecting rods 4234. When the angle between the two connecting rods 4234 increases, the two clamp bodies 422 are driven to open, and when the angle between the two connecting rods 4234 decreases, the two clamp bodies 422 are driven to tighten.

[0066] Specifically, the first driving component includes a driving motor 4231 and a transmission screw 4232. The driving motor 4231 is fixedly mounted on the mounting bracket 421 and is transmission-connected to the transmission screw 4232. The mounting seat 4233 has a screw hole, and the transmission screw 4232 is threaded in the screw hole. The driving motor 4231 drives the transmission screw 4232 to rotate. Under the threaded transmission between the transmission screw 4232 and the screw hole, the mounting seat 4233 moves up and down along the transmission screw 4232.

[0067] In some embodiments, the outer circumferential surfaces of the two clamping bodies 422 are arc-shaped in accordance with the arc of the inner wall of the hollow portion 811 .

[0068] The hollow portion 811 is cylindrical. After the clamp 420 is opened, the two clamps 422 will press against the inner wall of the hollow portion 811 to fix the coil 810 under the action of friction. The larger the contact area between the clamps 422 and the inner wall of the hollow portion 811, the greater the friction, and thus the better the fixing effect of the coil 810. Therefore, the outer circumferential surfaces of the two clamps 422 are arc-shaped, and the curvature of the outer circumferential surfaces of the two clamps 422 is consistent with the curvature of the inner wall of the hollow portion 811, that is, the outer circumferential surfaces of the two clamps 422 are in contact with the inner wall of the hollow portion 811, thereby increasing the contact area between the clamps 422 and the inner wall of the hollow portion 811, thereby increasing the friction.

[0069] Specifically, the shape of the clamp body 422 can be semi-cylindrical, and the two clamp bodies 422 form a cylinder, so that the contact area between the clamp body 422 and the inner wall of the hollow part 811 can be further increased, and the friction force can be increased. Of course, the radius of the cylinder formed by the two clamp bodies 422 needs to be smaller than the radius of the hollow part 811, so that the two clamp bodies 422 can extend into the hollow part 811.

[0070] See also Figure 2 In some embodiments, the picking device 400 is located above the conveying device and is capable of moving along the length direction of the truss 100 .

[0071] Since the entire pallet of goods 800 is arranged on the top surface of the conveying device, the picking device 400 is located above the conveying device, which can more conveniently grab the coil 810 .

[0072] In order to improve the loading efficiency of the coiled material 810, the forklift 600 will continue to transport the whole pallet of cargo 800 to the conveying device, and the whole pallet of cargo 800 will be placed on the conveying device in sequence along the length direction of the truss 100. Since the picking device 400 can move along the length direction of the truss 100, the picking device 400 can move along the length direction of the truss 100 to grab the coiled material 810 in sequence.

[0073] See also Figure 7 Specifically, a first longitudinal track 110 arranged along the length direction of the truss 100 can be set on the top surface of the truss 100, and a sliding member is set on the picking device 400. The sliding member is slidably set in the first longitudinal track 110, so that the picking device 400 can be moved along the length direction of the truss 100.

[0074] See also Figure 2 In some embodiments, the truss 100 can accommodate a truck 700 , and the truck 700 can be arranged side by side with the conveyor along the width direction of the truss 100 .

[0075] The truss 100 has a first storage space and a second storage space arranged side by side along the width direction of the truss 100. The conveying device is arranged in the first storage space, and the truck 700 can be arranged in the second storage space. When the coil 810 needs to be loaded, the truck 700 is driven into the second storage space. Since the truck 700 is also located in the truss 100, it is convenient for the stacking device 500 to transport the coil 810 to the compartment of the truck 700.

[0076] In some embodiments, the palletizing device 500 is located above the truck 700, and the palletizing device 500 can move along the length, width and height directions of the truss 100 respectively, and the range of movement of the palletizing device 500 along the width direction of the truss 100 covers the truck 700, so that the palletizing device 500 can be moved onto the truck 700.

[0077] Since the carriage is located on the top of the truck 700, the stacking device 500 is located above the truck 700 to facilitate the installation of the coils 810 in the carriage. When the stacking device 500 loads the coils 810, it arranges the coils 810 in rows along the width direction of the truss 100, and each row of coils 810 is arranged along the length direction of the truss 100. Therefore, the stacking device 500 needs to be able to move along the length and width direction of the truss 100 to place the coils 810 at different positions in the carriage, so that the coils 810 are arranged regularly in the carriage. Of course, the range of movement of the stacking device 500 along the width direction of the truss 100 covers the truck 700, so that the stacking device 500 can move into the carriage along the width direction of the truss 100.

[0078] In addition, since the position of the picking device 400 is higher than the position of the carriage, the stacking device 500 also needs to be able to move up and down, that is, after the stacking device 500 is docked with the picking device 400, it is necessary to first move along the length and width directions of the truss 100 to above a specific position of the carriage, and then move downward to a specific position in the carriage to place the coil 810. When a batch of coils 810 are loaded, the stacking device 500 is required to move upward first, and then move along the length and width directions of the truss 100 to dock with the picking device 400.

[0079] See also Figure 8-Figure 10 In some embodiments, the stacking device 500 includes a mounting member 510, a bottom plate 520, and a second driving mechanism disposed on the bottom plate 520. The bottom plate 520 is movably disposed at the bottom of the mounting member 510 to form a stacking cavity 511 with one side of the mounting member 510; wherein, when the bottom plate 520 contacts the truck 700, the second driving mechanism can drive the bottom plate 520 to move toward the other side of the mounting member 510 so that a plurality of coils 810 are placed on the truck 700.

[0080] When the stacking device 500 is docked with the picking device 400, the bottom plate 520 and one side of the mounting member 510 form a stacking cavity 511 to group and stack multiple coils 810. At this time, the bottom plate 520 supports the coils 810; when the stacking device 500 moves to the specified position of the carriage, the second driving mechanism drives the bottom plate 520 to move to the other side of the mounting member 510, so that the bottom of the stacking cavity 511 is suspended in the air, so that the coils 810 can fall onto the carriage to realize the loading of the coils 810.

[0081] That is, the palletizing device 500 has a stacking state and a loading state. When the palletizing device 500 is in the stacking state, the bottom plate 520 and one side of the mounting member 510 form a stacking cavity 511; when the palletizing device 500 is in the loading state, the bottom plate 520 moves to the other side of the mounting member 510, so that the bottom of the stacking cavity 511 is suspended.

[0082] In some embodiments, the palletizing device 500 also includes two first sliding members 540 fixedly connected to the mounting member 510, the base plate 520 includes a mounting portion 521 and sliding portions 522 respectively arranged on both sides of the mounting portion 521, the two first sliding members 540 are arranged corresponding to the two sliding portions 522, and the first sliding member 540 is slidably arranged on the corresponding sliding portion 522, and a second driving mechanism is provided on the two sliding portions 522, and the second driving mechanism is used to drive the corresponding sliding portion 522 to slide relative to the first sliding member 540.

[0083] The second driving mechanism drives the corresponding sliding part 522 to slide relative to the first sliding member 540, so that the bottom plate 520 moves at the bottom of the mounting member 510, thereby realizing switching between the stacking state and the loading state.

[0084] Specifically, the two first sliding members 540 may be sliders, and the two sliding parts 522 are provided with sliding rails 5221 . The sliders slidably cooperate with the corresponding sliding rails 5221 , so that the sliding parts 522 can slide relative to the first sliding members 540 .

[0085] In some embodiments, the sliding portion 522 has an installation cavity 5222, and the corresponding second driving mechanism is arranged in the installation cavity 5222. The second driving mechanism includes a second driving component 530 and a transmission member 533. The transmission member 533 is fixedly connected to the inner wall of the installation cavity 5222. The second driving component 530 is transmission-connected to the transmission member 533 and can drive the transmission member 533 to move.

[0086] The second drive mechanism is disposed in the installation cavity 5222, so that the installation cavity 5222 can protect the second drive mechanism and extend the service life of the second drive mechanism. Since the transmission member 533 is fixedly connected to the inner wall of the installation cavity 5222, the second drive assembly 530 drives the transmission member 533 to move, and the transmission member 533 can drive the bottom plate 520 to move.

[0087] Specifically, the second driving component 530 can be a motor, a gear 531 and a rack 532. The gear 531 and the rack 532 are meshed for transmission, and the rack 532 is connected to the transmission member 533. The motor drives the gear 531 to rotate, and the rack 532 moves relative to the gear 531, thereby driving the transmission member 533 to move.

[0088] In some embodiments, the installation cavity 5222 has an opening 5223 facing the installation member 510 , and the transmission member 533 is disposed in the opening 5223 and can support the coiled material 810 .

[0089] When the stacking device 500 is in the stacking state, the mounting portion 521 and the two sliding portions 522 together with the mounting member 510 enclose a stacking cavity 511, and the mounting portion 521 and the two sliding portions 522 together support the coil 810. The mounting portion 521 is arranged adjacent to the bottom of the mounting member 510, and since the sliding portion 522 is provided with a slide rail 5221, and the slide rail 5221 cooperates with the first slide member 540, a certain interval is required between the slide portion 522 and the mounting member 510 to leave space for the slide rail 5221 and the first slide member 540, resulting in a drop between the slide portion 522 and the mounting portion 521 in the height direction of the truss 100, which will cause the heights of the multiple coils 810 in the stacking cavity 511 to be inconsistent, affecting the grouping and stacking effect.

[0090] Since the transmission member 533 is disposed in the opening 5223, that is, the height of the transmission member 533 is higher than the sliding portion 522, the transmission member 533 can support the coil 810, that is, the mounting portion 521 and the transmission member 533 jointly support the coil 810. Since the height of the transmission member 533 is higher than the sliding portion 522, the height difference between the transmission member 533 and the mounting portion 521 is relatively small, so that the heights of the multiple coils 810 in the stacking chamber 511 can be as consistent as possible. Specifically, the top surface of the transmission member 533 is flush with the mounting portion 521, so that the heights of the multiple coils 810 in the stacking chamber 511 can be consistent.

[0091] See also Fig.11 In some embodiments, the coil loading system 10 includes a driving member 550, a second sliding member 560 and a vertical rail 140 arranged on the truss 100, the second sliding member 560 is slidably matched with the vertical rail 140, the stacking device 500 is hinged to the second sliding member 560, and the driving member 550 is arranged on the second sliding member 560 and is transmission-connected to the stacking device 500; wherein, when the stacking device 500 is docked with the picking device 400, the driving member 550 can drive the stacking device 500 to rotate toward the side away from the stacking cavity 511.

[0092] Please note that Figure 7 Since the palletizing device 500 can move along the length, width and height directions of the truss 100 respectively, it is obvious that the truss 100 is respectively provided with a transverse rail 130, a second longitudinal rail 120 and a vertical rail 140, and the transverse rail 130, the second longitudinal rail 120 and the vertical rail 140 are connected and matched with each other, that is, the transverse rail 130 slides with the second longitudinal rail 120, the vertical rail 140 slides with the transverse rail 130, and the palletizing device 500 is directly connected to the vertical rail 140.

[0093] Since the palletizing device 500 is hinged to the second sliding member 560, and the driving member 550 is in transmission connection with the palletizing device 500, the driving member 550 can drive the palletizing device 500 to rotate within a certain angle, thereby realizing a pitching action. When the stacking cavity 511 is located at the front side of the palletizing device 500, the palletizing device 500 rotates to the side away from the stacking cavity 511, that is, the palletizing device 500 leans back. When the palletizing device 500 is docked with the pickup device 400, the palletizing device 500 leans back slightly, so that the panel and the bottom plate 520 jointly support the coil 810, so that the coil 810 is placed more stably during the transfer process. When the transfer of the coil 810 is completed, the driving member 550 drives the palletizing device 500 to return to the initial state.

[0094] Specifically, the driving member 550 can be a hydraulic cylinder, an electric push rod, etc., which is not limited.

[0095] Next, the method of using the embodiment of the present application is described:

[0096] The forklift 600 delivers the entire pallet of cargo 800 to the conveying device 200 for transportation. The picking device 400 moves to the position of the entire pallet of cargo 800 and grabs the coils 810 in the entire pallet of cargo 800. The pallet 820 remaining on the conveying device 200 is transported to the pallet sorter 300. The picking device 400 docks with the palletizing device 500 through movement and transfers the coils 810 to the palletizing device 500. After the palletizing device 500 groups and stacks multiple coils 810, it moves to the designated position of the truck 700 and places multiple coils 810 on the truck 700, thereby completing the automatic loading of the coils 810.

[0097] It should be noted that the workflow of the coil loading system 10 provided in the embodiment of the present application is controlled by an electrical control system to realize automatic loading. The electrical control system can centrally control the execution of each mechanism according to remote control instructions, combined with equipment status, detection information and other signals, autonomously move within the truss 100, and automatically load the goods with one button, and has the functions of communicating with intelligent dispatching and remotely monitoring equipment status information and data display.

[0098] The picking device 400 adopts machine vision technology and intelligent control algorithms to identify the position and specifications of the goods on the conveyor line, adjust the position arrangement of the clamp 420 in real time, and control the precise falling into the hollow part 811 of the coil 810 to achieve fast, accurate and stable multiple grasping actions; the stacking device 500 mainly adopts high-precision servo control technology in conjunction with laser radar and other sensing technologies to identify the loading space size of the vehicle, and the relative position of the detection equipment and the coil 810 in the car body combined with the specifications of the coil 810, adjust the movement speed, achieve autonomous movement, plan loading, first insert the vertical code into the space, and then fill the horizontal code to achieve stable and efficient loading. At the same time, it has intelligent obstacle avoidance, anti-fall, and anti-collision functions to ensure the rapid and accurate movement of the equipment.

[0099] All electrical equipment should be grounded or provide auxiliary connections, and the electrical equipment should have good insulation and anti-interference performance; the control system should have overvoltage, undervoltage, overcurrent and overload protection functions; when the control system fails or malfunctions, the equipment's various actuators and mechanisms should be able to maintain a stable state to avoid equipment loss of control.

[0100] The coil loading system 10 provided in the embodiment of the present application can automatically transport the coils 810 and organize the pallets 820 without manual operation, thereby reducing the labor intensity of workers and improving the transportation efficiency.

[0101] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0102] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A coil loading system for transporting coils to a truck, characterized in that: The coil loading system comprises: truss; A conveyor device and a pallet collator are arranged on the truss, the conveyor device is used to receive a whole pallet of goods, and the conveyor device and the pallet collator are arranged in sequence along the transport direction of the conveyor device; wherein the whole pallet of goods includes a pallet and a coil arranged on the pallet; A pickup device, movably disposed on the truss, for grabbing the coil on the conveying device and placing the coil on the truck; Wherein, when the picking device grabs the coil on the conveying device, the conveying device can transport the pallet to the pallet sorting machine.

2. The coil loading system according to claim 1, characterized in that: The coil loading system also includes a stacking device movably arranged on the truss, the picking device can grab a plurality of the coils, the stacking device can dock with the picking device to receive the plurality of coils, and place the plurality of coils on the truck.

3. The coil loading system according to claim 2, characterized in that: The picking device includes a robotic arm and a clamp arranged on the robotic arm. The robotic arm can move the clamp to extend into the hollow part of the coil so that the clamp fixes the coil, and the robotic arm can move the clamp to dock with the stacking device.

4. The coil loading system according to claim 3, characterized in that: When the clamp extends into the hollow part of the coil, the clamp can be opened and pressed against the inner wall of the hollow part to fix the coil; when the palletizing device is docked with the picking device, the clamp can be tightened to disengage from the inner wall of the hollow part to loosen the coil.

5. The coil loading system according to claim 4, characterized in that: The clamp comprises a mounting bracket, two clamping bodies arranged on the mounting bracket, and a first driving mechanism; the mounting bracket is arranged at the movable end of the mechanical arm; and the first driving mechanism can drive the two clamping bodies to move relative to or away from each other.

6. The coil loading system according to claim 5, characterized in that: The first driving mechanism includes a first driving component, a mounting seat and two connecting rods arranged on both sides of the mounting seat, wherein the mounting seat is located between the two clamps, one end of the connecting rod is hinged to the mounting seat, and the other end is hinged to the clamp on the same side, the first driving component is transmission-connected to the mounting seat, and can drive the mounting seat to move along the length direction of the clamp so that the two clamps move relative to or away from each other.

7. The coil loading system according to claim 5, characterized in that: The outer peripheral surfaces of the two clamping bodies are arc-shaped and have the same arc as the inner wall of the hollow portion.

8. The coil loading system according to any one of claims 2 to 7, characterized in that: The picking device is located above the conveying device and can move along the length direction of the truss.

9. The coil loading system according to any one of claims 2 to 7, characterized in that: The truss can accommodate the truck, and the truck can be arranged side by side with the conveying device along the width direction of the truss.

10. The coil loading system according to claim 9, characterized in that: The stacking device is located above the truck and can move along the length, width and height directions of the truss respectively. The range of movement of the stacking device along the width direction of the truss covers the truck, so that the stacking device can be moved onto the truck.

11. The coil loading system according to claim 10, characterized in that: The stacking device includes a mounting member, a base plate and a second driving mechanism arranged on the base plate, wherein the base plate is movably arranged at the bottom of the mounting member to form a stacking cavity with one side of the mounting member; wherein, when the base plate contacts the truck, the second driving mechanism can drive the base plate to move toward the other side of the mounting member so that a plurality of the coils can be placed on the truck.

12. The coil loading system according to claim 11, characterized in that: The palletizing device also includes two first sliding members fixedly connected to the mounting member, the bottom plate includes a mounting portion and sliding portions arranged on both sides of the mounting portion, the two first sliding members are arranged corresponding to the sliding portions, and the first sliding member is slidably arranged on the corresponding sliding portions, and the second driving mechanism is provided on both sliding portions, and the second driving mechanism is used to drive the corresponding sliding portion to slide relative to the first sliding member.

13. The coil loading system according to claim 12, characterized in that: The sliding portion has an installation cavity, and the corresponding second driving mechanism is arranged in the installation cavity. The second driving mechanism includes a second driving component and a transmission member. The transmission member is fixedly connected to the inner wall of the installation cavity. The second driving component is transmission-connected to the transmission member and can drive the transmission member to move.

14. The coil loading system according to claim 13, characterized in that: The installation cavity has an opening facing the installation member, and the transmission member is arranged in the opening and can support the coil.

15. The coil loading system according to claim 10, characterized in that: The coil loading system includes a driving member, a second sliding member and a vertical track arranged on the truss, the second sliding member slidingly cooperates with the vertical track, the stacking device is hinged to the second sliding member, the driving member is arranged on the second sliding member and is transmission-connected to the stacking device; wherein, when the stacking device is docked with the picking device, the driving member can drive the stacking device to rotate to the side away from the stacking cavity.

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