Tray feeding and discharging system

Abstract

The invention provides a tray feeding and discharging system. The tray feeding and discharging system comprises a feeding unit and a discharging unit. The feeding unit comprises a first material moving trolley module, a first feeding and discharging module and a first connection module, and the first material moving trolley module is used for moving a material trolley from a system feeding position to a feeding grabbing position and a transition position in sequence. The first feeding and discharging module is used for grabbing the tray stacking combination on the skip car at the feeding grabbing position and transferring the tray stacking combination to the connection position of the first connection module. The discharging unit comprises a second material moving trolley module, a second feeding and discharging module and a second connection module, and the second material moving trolley module is used for sequentially moving the material trolley from the transition position to the discharging containing position and the system discharging position. The second feeding and discharging module is used for transferring the tray stacking combination on the connection position of the second connection module to the discharging placement position and placing the tray stacking combination on the skip car, and the feeding and discharging process is achieved through the skip car.

Description

Technical Field

[0001] The invention relates to the field of mechanical equipment, and in particular to a pallet loading and unloading system. Background Art

[0002] At present, the application of logistics systems in automated workshops is becoming more and more widespread, among which the conveying method of roller equipment is very common. The loading and unloading methods of logistics systems for large goods mainly include manual handling, robot handling, etc.

[0003] For the loading and unloading of pallet materials, the manual method is time-consuming and laborious, and although the robot method is highly flexible, the stacking of pallets limits the robot's posture, and the hardware system investment cost is relatively high. In addition, although some automated loading and unloading devices are also used for loading and unloading pallets in some automated systems, the loading and unloading of pallets in the loading and unloading devices themselves are still manually loaded and unloaded, and when they are connected to the automated system through automated equipment, the loading and unloading efficiency is low. Summary of the invention

[0004] The purpose of the invention is to overcome the defects of the prior art and provide a pallet loading and unloading system.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A pallet loading and unloading system, characterized by comprising: a loading unit and a unloading unit;

[0007] The loading unit comprises: a first material transfer vehicle module, a first loading and unloading module, and a first docking module. The first material transfer vehicle module is used to move the material vehicle from the system loading position to the loading grabbing position and the transition position in sequence. The first loading and unloading module is used to grab the stacked combination of pallets on the material vehicle at the loading grabbing position and transfer it to the docking position of the first docking module. The first docking module is used to dock the stacked combination of pallets grabbed by the first loading and unloading module and dock the external material system for discharging.

[0008] The first material transfer vehicle module comprises: a first material transfer vehicle track and a first material transfer vehicle mechanism, wherein the first material transfer vehicle track is used for the sliding of the material feeding vehicle, and the first material transfer vehicle mechanism is used for driving the material feeding vehicle to slide on the first material transfer vehicle track from the system loading position to the loading grabbing position and the transition position in sequence;

[0009] The unloading unit comprises: a second material transfer vehicle module, a second loading and unloading module, and a second docking module, wherein the second material transfer vehicle module is used to move the material vehicle from the transition position to the unloading placement position and the system unloading position in sequence, the second loading and unloading module is used to transfer the pallet stacking combination on the docking position of the second docking module to the unloading placement position and place the pallet stacking combination on the material vehicle, and the second docking module is used to dock with the external material system feed and dock the pallet stacking combination delivered by the external material system;

[0010] The second material transfer vehicle module comprises: a second material transfer vehicle track and a second material transfer vehicle mechanism, the second material transfer vehicle track is used for the sliding of the material supply vehicle, and the second material transfer vehicle mechanism is used for driving the material supply vehicle to slide on the second material transfer vehicle track from the transition position to the material unloading position and the system material unloading position in sequence;

[0011] The first feed car track and the second feed car track are connected at the transition position.

[0012] Preferably, the first material transfer trolley mechanism includes: a first mechanism base plate, a first moving bar, a first sliding seat, a first drive motor, and a loading unit material shifting mechanism arranged on the first moving bar, and the loading unit material shifting mechanism is used to move the material trolley; the first sliding seat is fixed on the first mechanism base plate, the first moving bar is slidably arranged on the first sliding seat, the first drive motor is drivingly connected to the first moving bar, and the loading unit material shifting mechanism is arranged on the first moving bar.

[0013] Preferably, the material shifting mechanism of the feeding unit includes: a first material shifting mechanism, a second material shifting mechanism and a third material shifting mechanism, and the first material shifting mechanism, the second material shifting mechanism and the third material shifting mechanism are used to shift the material cart from the system feeding position to the feeding grabbing position and the transition position in sequence.

[0014] Preferably, the first material shifting mechanism comprises: a first connecting plate connected to the first moving bar, a first lifting cylinder arranged on the first connecting plate, a first supporting plate drivingly connected to the first lifting cylinder, and a first material shifting block arranged on the first supporting plate;

[0015] The second material shifting mechanism includes: a second connecting plate connected to the first moving bar, a second lifting cylinder arranged on the second connecting plate, a second supporting plate drivingly connected to the second lifting cylinder, and a second material shifting block arranged on the second supporting plate

[0016] The third material shifting mechanism includes: a third connecting plate connected to the first moving bar, a third lifting cylinder arranged on the third connecting plate, a third supporting plate transmission-connected to the third lifting cylinder, and a third material shifting block arranged on the third supporting plate.

[0017] Preferably, a first positioning mechanism is provided on both sides of the front end of the loading and grabbing position, which is used to position the front end of the material cart before it enters the loading and grabbing position; a first lateral clamping positioning mechanism is provided on both sides of the loading and grabbing position, which is used to position the front and rear ends of the material cart and clamp and fix the front and rear end beams of the material cart.

[0018] Preferably, the first loading and unloading module includes: a first frame, a first lifting chuck mechanism, a first transverse chuck mechanism and a second lifting chuck mechanism, the first lifting chuck mechanism is arranged in a side area of ​​the first frame corresponding to the loading grabbing position, and corresponds to the first end of the first transverse chuck mechanism, the first transverse chuck mechanism is arranged at the upper end of the first frame, and the second lifting chuck mechanism corresponds to the docking position of the first docking module, and corresponds to the second end of the first transverse chuck mechanism.

[0019] Preferably, the first lifting chuck mechanism comprises: a first lifting chain assembly, a first lifting chuck claw, and a first lifting chuck cylinder driving the first lifting chuck claw, and the first lifting chain assembly drives the first lifting chuck cylinder and the first lifting chuck claw to lift and lower;

[0020] The second lifting chuck mechanism comprises: a second lifting chain assembly, a second lifting chuck claw, and a second lifting chuck cylinder driving the second lifting chuck claw, the second lifting chain assembly drives the second lifting chuck cylinder and the second lifting chuck claw to rise and fall;

[0021] The first transverse chuck mechanism includes: a first transverse screw drive assembly, a first transverse chuck gripper, and a first transverse chuck cylinder driving the first transverse chuck gripper. The first transverse screw drive assembly drives the first transverse chuck cylinder and the first transverse chuck gripper to move transversely.

[0022] Preferably, the first docking module includes: a first platform frame, a power roller arranged on the platform frame, and a lifting mechanism arranged at the bottom of the first platform frame; the lifting mechanism includes: a top plate and a lifting cylinder transmission-connected thereto, and the top plate is arranged between the gaps of the power roller.

[0023] Preferably, a plurality of guide limit plates are arranged around the first platform frame.

[0024] Preferably, the second material transfer trolley mechanism includes: a second mechanism bottom plate, a second moving bar, a second sliding seat, a second drive motor and a material unloading unit material shifting mechanism arranged on the second moving bar, and the material unloading unit material shifting mechanism is used to move the material trolley; the second sliding seat is fixed on the second mechanism bottom plate, the second moving bar is slidably arranged on the second sliding seat, the second drive motor is drivingly connected to the second moving bar, and the material unloading unit material shifting mechanism is arranged on the second moving bar.

[0025] Preferably, the second loading and unloading module includes: a second frame, a third lifting chuck mechanism, a second transverse chuck mechanism and a fourth lifting chuck mechanism, the third lifting chuck mechanism is arranged in a side area of ​​the second frame corresponding to the unloading placement position, and corresponds to the first end of the second transverse chuck mechanism, the second transverse chuck mechanism is arranged at the upper end of the second frame, and the fourth lifting chuck mechanism corresponds to the docking position of the second docking module, and at the same time corresponds to the second end of the second transverse chuck mechanism.

[0026] Preferably, the second docking module includes: a second platform frame, a second power roller arranged on the second platform frame, and a second lifting mechanism arranged at the bottom of the second platform frame; the second lifting mechanism includes: a second top plate and a second lifting cylinder transmission-connected thereto, and the second top plate is arranged between the gaps of the second power rollers.

[0027] The pallet loading and unloading system created by the present invention can realize the loading and / or unloading of pallets from a material cart to a logistics system (or an automated production line). The loading and unloading process is achieved through the material cart instead of directly through the pallet, and there is no need for manual loading or unloading, thus saving time and effort.

[0028] In addition, the invention is not limited by the different types of materials loaded in the pallet or material box, nor is it limited by the different structures of the pallet or material box. The applicable scope of the system operation can be adapted by adjusting the structural dimensions of key parts (such as the size of the material cart and the claw hand). BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a pallet loading and unloading system created by the present invention;

[0030] Figure 2 It is a schematic diagram of the workstation flow of the pallet loading and unloading system created by the present invention;

[0031] Figure 3 It is a structural schematic diagram of the first material transfer vehicle module created by the present invention;

[0032] Figure 4a It is a structural schematic diagram of the first material transfer vehicle mechanism created by the present invention;

[0033] Figure 4b It is a structural schematic diagram of the second material transfer vehicle mechanism created by the present invention;

[0034] Figure 5 It is a structural schematic diagram of the first lateral clamping and positioning mechanism created by the present invention;

[0035] Figure 6 This is a schematic diagram of the working principle of the first material transfer vehicle mechanism created by the present invention;

[0036] Figure 7a This is a schematic diagram of the structure of the first loading and unloading module created by the present invention;

[0037] Figure 7b This is a schematic diagram of the structure of the second loading and unloading module created by the present invention;

[0038] Figure 8 yes Figure 7a E enlarged view;

[0039] Figure 9a It is a structural schematic diagram of the first docking module of the present utility model;

[0040] Figure 9b It is a structural schematic diagram of the second docking module of the present utility model;

[0041] Fig.10a It is a structural schematic diagram of the lifting mechanism created by the present invention;

[0042] Fig.10b It is a structural schematic diagram of the second lifting mechanism created by the present invention.

[0043] Figure 1-10b The accompanying drawings are denoted as follows:

[0044] The loading unit 100, the first material transfer vehicle module 110, the first loading and unloading module 120, the first docking module 130, the first material transfer vehicle track 111, the first material transfer vehicle mechanism 112, the first frame 121, the first lifting chuck mechanism 122, the first transverse chuck mechanism 123, the second lifting chuck mechanism 124, the first platform frame 131, the power roller 132, and the lifting mechanism 133;

[0045] The first mechanism bottom plate 1120, the first moving bar 1121, the first sliding seat 1122, the first material dispensing mechanism 1123, the second material dispensing mechanism 1124 and the third material dispensing mechanism 1125, the first positioning mechanism 1126, the U-shaped chain 1127, the first lateral clamping positioning mechanism 1128, the first driving motor 1129; the first lifting chain assembly 1221, the first lifting chuck claw hand 1222, the first lifting chuck cylinder 1223, the second lifting chain assembly 1241, the second lifting chuck claw hand 1242, the second lifting chuck cylinder 1243, the first transverse screw drive assembly 1231, the first transverse chuck gripper 1232, the top plate 1331, the lifting cylinder 1332,

[0046] The first connecting plate 11231, the first lifting cylinder 11232, the first supporting plate 11233, the first material shifting block 11234; the second connecting plate 11241, the second lifting cylinder 11242, the second supporting plate 11243, the second material shifting block 11244; the third connecting plate 11251, the third lifting cylinder 11252, the third supporting plate 11253, the third material shifting block 11254; the first positioning cylinder 11261, the first positioning block 11262; the first lateral clamping positioning cylinder 11280, the first positioning clamping block 11281, the second positioning clamping block 11282;

[0047] The unloading unit 200, the second material transfer vehicle module 210, the second loading and unloading module 220, the second docking module 230, the second material transfer vehicle track 211, the second material transfer vehicle mechanism 212, the second frame 221, the third lifting chuck mechanism 222, the second transverse chuck mechanism 223, the fourth lifting chuck mechanism 224, the second platform frame 231, the second power roller 232, and the second lifting mechanism 233;

[0048] The second mechanism bottom plate 2120, the second moving bar 2121, the second sliding seat 2122, the second driving motor 2129, the second top plate 2331, and the second lifting cylinder 2332;

[0049] Tray stacking assembly 300 , first card slot 301 , second card slot 302 , and material cart 400 . DETAILED DESCRIPTION

[0050] The specific implementation of the pallet loading and unloading system created by the present invention is further described below in conjunction with the embodiments given in the accompanying drawings. The pallet loading and unloading system created by the present invention is not limited to the description of the following embodiments.

[0051] The invention provides a pallet loading and unloading system, which is mainly used for loading and unloading of pallets in a logistics system or loading and unloading of pallets in an automated production line.

[0052] like Figure 1-2As shown, the pallet loading and unloading system of this embodiment includes: a loading unit 100 and a unloading unit 200. Taking the application to the logistics system as an example, the discharging of the loading unit 100 is mainly connected to the pallet loading position of the external logistics system, which is used to deliver the pallet into the logistics system, and the feeding of the unloading unit 200 is mainly connected to the pallet discharging position of the external logistics system, which is used to connect the pallet discharging of the logistics system.

[0053] In this embodiment, the loading unit 100 includes: a first material transfer trolley module 110, a first loading and unloading module 120, and a first docking module 130. The first material transfer trolley module 110 is used to move the trolley from the system loading position to the loading grabbing position and the transition position in sequence. The first loading and unloading module 120 is used to grab the pallet stacking combination on the trolley at the loading grabbing position and transfer it to the docking position of the first docking module 130. The first docking module 130 is used to dock the pallet stacking combination material grabbed by the first loading and unloading module 120, and connect to the external material system for discharging; the first material transfer trolley module 110 includes: a first trolley track 111 and a first material transfer trolley mechanism 112. The first trolley track 111 is used for the sliding of the feeding trolley. The first material transfer trolley mechanism 112 is used to drive the trolley to slide on the first trolley track 111 from the system loading position to the loading grabbing position and the transition position in sequence.

[0054] In this embodiment, the unloading unit 200 includes: a second material transfer trolley module 210, a second loading and unloading module 220, and a second docking module 230. The second material transfer trolley module 210 is used to move the trolley from the transition position to the unloading placement position and the system unloading position in sequence. The second loading and unloading module 220 is used to transfer the pallet stacking combination on the docking position of the second docking module 230 to the unloading placement position and place the pallet stacking combination on the trolley. The second docking module 230 is used to dock with the external material system input and dock the pallet stacking combination fed by the external material system; the second material transfer trolley module 210 includes: a second trolley track 211 and a second material transfer trolley mechanism 212. The second trolley track 211 is used for the sliding of the feeding trolley. The second material transfer trolley mechanism 212 is used to drive the trolley to slide on the second trolley track 211 from the transition position to the unloading placement position and the system unloading position in sequence; the first trolley track 111 and the second trolley track 211 are connected at the transition position.

[0055] As a specific implementation method, Figure 3 , Figure 4a as well as Figure 5As shown, the first material transfer vehicle mechanism 112 includes: a first mechanism bottom plate 1120, a first moving bar 1121, a first sliding seat 1122, a first driving motor 1129, and a material feeding unit shifting mechanism disposed on the first moving bar 1121, the material feeding unit shifting mechanism being used to shift the material vehicle to move; the first sliding seat 1122 is fixed on the first mechanism bottom plate 1120, the first moving bar 1121 is slidably disposed on the first sliding seat 1122, the first driving motor 1129 is drivingly connected to the first moving bar 1121, and the material feeding unit shifting mechanism is disposed on the first moving bar 1121. A sliding groove (such as a trapezoidal groove or a wedge-shaped groove) is disposed on the first sliding seat 1122, and the first moving bar 1121 is disposed with a sliding portion of a corresponding shape, so that the first moving bar 1121 can slide in the sliding groove, the first moving bar 1121 is driven by the first driving motor 1129, and drives the material feeding unit shifting mechanism to slide. In order to further improve the sliding accuracy and stability of the first moving bar 1121, a U-shaped chain 1127 may be added to perform auxiliary movement.

[0056] Furthermore, the feeding unit material shifting mechanism includes: a first material shifting mechanism 1123, a second material shifting mechanism 1124 and a third material shifting mechanism 1125, and the first material shifting mechanism 1123, the second material shifting mechanism 1124 and the third material shifting mechanism 1125 are used to shift the material cart from the system loading position to the loading grabbing position and the transition position in sequence. In this embodiment, multiple material shifting mechanisms are used to coordinately shift the material cart 400 to the corresponding position. Of course, a single material shifting mechanism can also be used to achieve this, but a single material shifting mechanism needs a long stroke to complete the material shifting of multiple positions, which is not conducive to the miniaturization of the equipment.

[0057] Furthermore, the first material shifting mechanism 1123 includes: a first connecting plate 11231 connected to the first moving bar 1121, a first lifting cylinder 11232 disposed on the first connecting plate 11231, a first supporting plate 11233 in transmission connection with the first lifting cylinder 11232, and a first material shifting block 11234 disposed on the first supporting plate 11233. The second material shifting mechanism 1124 includes: a second connecting plate 11241 connected to the first moving bar 1121, a second lifting cylinder 11242 disposed on the second connecting plate 11241, a second supporting plate 11243 in transmission connection with the second lifting cylinder 11242, and a second material shifting block 11244 disposed on the second supporting plate 11243. The third material shifting mechanism 1123 includes: a third connecting plate 11251 connected to the first moving bar 1121, a third lifting cylinder 11252 arranged on the third connecting plate 11251, a third supporting plate 11253 transmission-connected to the third lifting cylinder 11252, and a third material shifting block 11254 arranged on the third supporting plate 11253.

[0058] Furthermore, a first positioning mechanism 1126 is provided on both sides of the front end of the loading and grabbing position, and the first positioning mechanism 1126 includes a first positioning cylinder 11261 and a first positioning block 11262 connected to the first positioning cylinder 11261, which is used to position the front end of the material vehicle before entering the loading and grabbing position. Figure 3 and Figure 5 As shown, a first lateral clamping and positioning mechanism 1128 is also provided on both sides corresponding to the loading and grabbing position. The first lateral clamping and positioning mechanism 1128 includes: a first lateral clamping and positioning cylinder 11280, a first positioning clamping block 11281 and a second positioning clamping block 11282 respectively connected to the first lateral clamping and positioning cylinder 11280, which are used to position the front and rear ends of the material cart and clamp and fix the front and rear end beams of the material cart.

[0059] like Figure 6The figure shows the working principle of the first material moving vehicle mechanism 112 in this embodiment. After the first lifting cylinder 11232 of the first material moving vehicle mechanism 112 extends, the first positioning cylinder 11261 moves to extend the first positioning block 11262 as the material vehicle limit. At the same time, the first driving motor 1129 drives the first moving bar 1121 to move, so that the first material shifting block 11234 brings the material vehicle at the upper material position of the system to the middle position 1 through the front crossbeam of the material vehicle. Then, the first lateral clamping positioning cylinder 11280 of the first lateral clamping positioning mechanism 1128 moves, driving the second positioning clamping block 11282 to extend and fix the front legs of the material vehicle to achieve positioning. After that, the first lifting cylinder 11232 descends and resets, and then the first driving motor 1129 drives the first moving bar 1121 to reset back to the initial position shown in the figure. At this time, the second material shifting block 11244 is facing the front crossbeam of the material cart, and through the rising action of the second lifting cylinder 11242, the second material shifting block 11244 clamps the front crossbeam of the material cart, and sequentially performs the clamping and positioning cylinder resetting and retraction action of the lateral clamping and positioning mechanism (the first positioning clamping block 11281 releases the front leg of the material cart), the first drive motor 1129 drives the movement bar to move, the clamping and positioning cylinder of the lateral clamping and positioning mechanism extends (the first positioning clamping block 11281 and the second positioning clamping block 11282 respectively clamp the rear leg and the front leg of the material cart to achieve positioning), the second lifting cylinder 11242 descends (the second material shifting block 11244 is released), and the first drive motor 1129 drives the movement bar to reset (return to the initial position), and finally brings the material cart from the middle position 1 to the loading and grabbing position, waiting for the first loading and unloading module 120 to grab the pallet stacking combination material. After the first loading and unloading module 120 moves the stacked material of the pallet away from the material cart, the first material moving car module sequentially executes the rising action of the third lifting cylinder 11252 (driving the third material shifting block 11254 to clamp the front crossbeam of the material cart), the resetting and retracting action of the clamping and positioning cylinder of the first lateral clamping and positioning mechanism 1128 (the first positioning clamping block 11281 and the second positioning clamping block 11282 respectively release the rear legs and the front legs of the material cart), the first driving motor 1129 drives the first moving bar 1121 to move, the extending action of the clamping and positioning cylinder 11280 of the first lateral clamping and positioning mechanism 1128 (the second positioning clamping block 11282 clamps the rear legs of the material cart to achieve positioning), the descending action of the third lifting cylinder 11252 (the third material shifting block 11254 is released), and the first driving motor 1129 drives the first moving bar to reset (return to the initial position), and finally brings the material cart from the loading and grabbing position to the middle position 2.Then, the third lifting cylinder 11252 ascends (driving the third material shifting block 11254 to clamp the rear crossbeam of the material cart), the clamping and positioning cylinder of the first lateral clamping and positioning mechanism resets and retracts (the second positioning clamping block 11282 releases the rear legs of the material cart), the first drive motor 1129 drives the first moving bar to move, the third lifting cylinder 11252 descends (the third material shifting block 11254 is released), and the first drive motor 1129 drives the first moving bar 1121 to reset (return to the initial position), and finally the material cart is brought from the middle position 2 to the transition position, completing the complete process action of the material cart in the loading unit. At this time, the material cart in the transition position as the loading position of the unloading unit is equivalent to the loading position of the loading unit (that is, the system loading position). Similarly, executing the material cart action process in the loading unit can realize the complete process action of the material cart in the unloading unit.

[0060] In this embodiment, Figure 7a As shown, the first loading and unloading module 120 includes: a first frame 121, a first lifting chuck mechanism 122, a first transverse chuck mechanism 123 and a second lifting chuck mechanism 124, the first chuck mechanism 122 is arranged in a side area of ​​the first frame 121 corresponding to the loading grabbing position, and corresponds to the first end of the first transverse chuck mechanism 123, the first transverse chuck mechanism 123 is arranged at the upper end of the first frame 121, the second lifting chuck mechanism 124 is arranged corresponding to the docking position of the first docking module 130, and at the same time corresponds to the second end of the first transverse chuck mechanism 123.

[0061] Furthermore, the first lifting chuck mechanism 122 includes: a first lifting chain assembly 1221, a first lifting chuck claw 1222, and a first lifting chuck cylinder 1223 driving the first lifting chuck claw 1222, the first lifting chain assembly 1221 drives the first lifting chuck cylinder 1223 and the first lifting chuck claw 1222 to rise and fall; the second lifting chuck mechanism 124 includes: a second lifting chain assembly 1241, a second lifting chuck claw 1242, and a first lifting chuck cylinder 1223 driving the second lifting chuck claw 1242. The second lifting chuck cylinder 1243 of 242, the second lifting chain assembly 1241 drives the second lifting chuck cylinder 1243 and the second lifting chuck claw hand 1242 to move up and down; the first transverse chuck mechanism 123 includes: the first transverse screw drive assembly 1231, the first transverse chuck gripper 1232 and the first transverse chuck cylinder driving the first transverse chuck gripper 1232 are not shown in the figure, the first transverse screw drive assembly 1231 drives the first transverse chuck cylinder and the first transverse chuck gripper 1232 to move laterally. Figure 8As shown, the tray is provided with a first slot 301 and a second slot 302, into which a claw hand can be inserted for fixing, thereby achieving actions such as lifting and lateral movement. In this embodiment, the first lifting chain assembly 1221 and the second lifting chain assembly 1241 can also be realized by screw drive or other linear drive mechanisms.

[0062] In this embodiment, the first loading and unloading module 120 has three working positions, namely, the initial waiting position, the receiving position and the docking position. Among them, the receiving position is at the bottom, the initial waiting position is in the middle, and the docking position is at the top. In the loading unit, when the material cart with the pallet arrives at the loading grabbing position, the first lifting chuck mechanism 122 is driven by the first lifting chain assembly 1221 to descend. After reaching the receiving position, the first lifting chuck cylinder 1223 drives the first lifting chuck claw 1222 to clamp the pallet material at the bottom of the pallet stacking combination (the pallet is designed with a first clamping groove 301 suitable for clamping), and then the pallet stacking combination is brought to the clamping position (i.e., the docking position) of the first transverse chuck gripper 1232 of the first transverse chuck mechanism 123 through the first lifting chain assembly 1221. After the first transverse chuck gripper 1232 clamps the pallet material at the bottom of the pallet stacking combination (the pallet is designed with a second clamping groove 302 suitable for clamping), the first lifting chuck claw 1222 is released, and the first lifting chuck mechanism 122 is reset to the initial waiting position through the first lifting chain assembly 1221. Afterwards, driven by the first transverse screw drive assembly 1231, the first transverse chuck mechanism 123 carries the pallet stacking combination and moves from above the material cart loading and grabbing position to above the first docking module 130. At this time, the second lifting chuck mechanism 124 moves from the initial waiting position to the docking position through the second lifting chain assembly 1241 to perform the action of the second lifting chuck claw 1242 clamping the first card slot 301 of the bottom pallet material in the pallet stacking combination. After the docking is completed, the first transverse chuck gripper 1232 is released. The second lifting chuck mechanism 124 waits for the docking platform module to take over the action. After completing the action of taking over the first docking module 130, the second lifting chuck claw 1242 is released, and the second lifting chuck mechanism 124 is then reset to the initial waiting position. At this point, all process actions of the pallet stacking combination material in the first loading and unloading module 120 are completed.

[0063] like Figure 9a , Figure 9b As shown, the first docking module 130 includes: a first platform frame 131, a power roller 132 arranged on the second platform frame 131, and a lifting mechanism 133 arranged at the bottom of the first platform frame 131. As shown in FIG10, the lifting mechanism 133 includes: a top plate 1331 and a lifting cylinder 1332 connected thereto in a transmission manner, the top plate 1331 is arranged between the gaps of the power roller 132, and the first docking module 130 is fixed to the first frame 121 through a fixing seat 137.

[0064] Furthermore, a plurality of guide and limit plates 134 are disposed around the first platform frame 131 to guide and limit the pallets coming from the first loading and unloading module 120 .

[0065] In this embodiment, when the first docking module 130 is docking with the material of the first loading and unloading module 120, the lifting cylinder 1332 of the lifting mechanism 133 in the first docking module 130 is in an extended state (that is, before the second lifting chuck mechanism 124 of the loading and unloading module descends with the material, the lifting cylinder 1332 of the lifting mechanism 133 rises in advance to prepare for receiving the material). At this time, the pallet stacking assembly is placed on the top plate 1331 of the lifting mechanism 133. At the same time, the pallet stacking assembly enters the interior of the guide limit plate 134 to complete the circumferential positioning to ensure that the overall stacking state is neat. After the second lifting chuck claw 1242 of the first loading and unloading module 120 is released, the lifting cylinder 1332 of the lifting mechanism 133 descends to transport the pallet stacking assembly to the power roller 132. To ensure that the second lifting chuck mechanism 124 has completely left the working range of the guide limit plate 134, after receiving the arrival signal of the second lifting chuck mechanism 124 of the first loading and unloading module returning to the initial waiting position, the power roller 132 is driven to work, and the stacked pallet combination is rolled out of the loading unit by the power roller 132 and enters the external docking logistics system, thereby realizing the complete loading function of the pallet system.

[0066] In this embodiment, Figure 4b As shown, the second material transfer vehicle mechanism 212 includes: a second mechanism bottom plate 2120, a second moving bar 2121, a second sliding seat 2122, a second driving motor 2129, and a material discharging unit shifting mechanism disposed on the second moving bar 2121, the material discharging unit shifting mechanism is used to shift the material vehicle to move; the second sliding seat 2122 is fixed on the second mechanism bottom plate 2120, the second moving bar 2121 is slidably disposed on the second sliding seat 2122, the second driving motor 2129 is drivingly connected to the second moving bar 2121, and the material discharging unit shifting mechanism is disposed on the second moving bar 2121. The second material transfer vehicle mechanism 212 of this embodiment has a substantially identical structure to the first material transfer vehicle mechanism 112, and will not be described again herein.

[0067] In this embodiment, the second loading and unloading module 220 includes: a second frame 221, a third lifting chuck mechanism 222, a second transverse chuck mechanism 223 and a fourth lifting chuck mechanism 224. The third lifting chuck mechanism 222 is arranged in a side area of ​​the second frame 221 corresponding to the unloading placement position and corresponds to the first end of the second transverse chuck mechanism 223. The second transverse chuck mechanism 223 is arranged at the upper end of the second frame 221. The fourth lifting chuck mechanism 224 is arranged corresponding to the docking position of the second docking module 230 and corresponds to the second end of the second transverse chuck mechanism 223. The structure of the second loading and unloading module 220 of this embodiment is basically the same as that of the first loading and unloading module 120, and will not be repeated here.

[0068] In this embodiment, the second docking module 230 includes: a second platform frame 231, a second power roller 232 disposed on the second platform frame 231, and a second lifting mechanism 233 disposed at the bottom of the second platform frame 231; the second lifting mechanism 233 includes: a second top plate 2331 and a second lifting cylinder 2332 connected thereto, and the second top plate 2331 is disposed between the gaps of the second power roller 232. The structure of the second docking module 230 of this embodiment is substantially the same as that of the first docking module 130, and will not be described again herein.

[0069] like Figure 2 As shown, by connecting the unloading unit 200 to the external logistics system and adopting the reverse action process with the loading unit 100, the system unloading function of the pallet material can be realized.

[0070] It should be noted that in the description of the invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship usually placed when in use, which is only for the convenience of description, and does not indicate that the device or element referred to must have a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating relative importance.

[0071] The above content is a further detailed description of the invention in combination with specific preferred implementation methods, and it cannot be determined that the specific implementation of the invention is limited to these descriptions. For ordinary technicians in the technical field to which the invention belongs, several simple deductions or substitutions can be made without departing from the concept of the invention, which should be regarded as falling within the scope of protection of the invention.

Claims

1. A pallet loading and unloading system, characterized in that: include: A loading unit (100) and a unloading unit (200); The loading unit (100) comprises: a first material transfer vehicle module (110), a first loading and unloading module (120), and a first docking module (130); the first material transfer vehicle module (110) is used to sequentially move the material vehicle from the system loading position to the loading grabbing position and the transition position; the first loading and unloading module (120) is used to grab the stacked pallet combination on the material vehicle at the loading grabbing position and transfer it to the docking position of the first docking module (130); the first docking module (130) is used to dock the stacked pallet combination material grabbed by the first loading and unloading module (120) and dock with the external material system for discharging; The first material transfer vehicle module (110) comprises: a first material transfer vehicle track (111) and a first material transfer vehicle mechanism (112), wherein the first material transfer vehicle track (111) is used for the sliding of the material supply vehicle, and the first material transfer vehicle mechanism (112) is used for driving the material supply vehicle to slide on the first material transfer vehicle track (111) from the system material loading position to the material loading grabbing position and the transition position in sequence; The material unloading unit (200) comprises: a second material transfer vehicle module (210), a second loading and unloading module (220), and a second docking module (230); the second material transfer vehicle module (210) is used to move the material vehicle from the transition position to the unloading placement position and the system unloading position in sequence; the second loading and unloading module (220) is used to transfer the pallet stacking combination on the docking position of the second docking module (230) to the unloading placement position and place the pallet stacking combination on the material vehicle; the second docking module (230) is used to dock with the external material system feed and to dock the pallet stacking combination delivered by the external material system; The second material transfer vehicle module (210) comprises: a second material transfer vehicle track (211) and a second material transfer vehicle mechanism (212), wherein the second material transfer vehicle track (211) is used for the sliding of the material supply vehicle, and the second material transfer vehicle mechanism (212) is used for driving the material supply vehicle to slide on the second material transfer vehicle track (211) from the transition position to the material unloading position and the system material unloading position in sequence; The first trolley track (111) and the second trolley track (211) are connected at the transition position.

2. The pallet loading and unloading system according to claim 1 is characterized in that: The first material transfer trolley mechanism (112) comprises: a first mechanism bottom plate (1120), a first moving bar (1121), a first sliding seat (1122), a first driving motor (1129) and a material feeding unit shifting mechanism arranged on the first moving bar (1121), wherein the material feeding unit shifting mechanism is used to shift the material trolley to move; the first sliding seat (1122) is fixed on the first mechanism bottom plate (1120), the first moving bar (1121) is slidably arranged on the first sliding seat (1122), the first driving motor (1129) is drivingly connected to the first moving bar (1121), and the material feeding unit shifting mechanism is arranged on the first moving bar (1121).

3. The pallet loading and unloading system according to claim 2 is characterized in that: The material shifting mechanism of the loading unit comprises: a first material shifting mechanism (1123), a second material shifting mechanism (1124) and a third material shifting mechanism (1125); the first material shifting mechanism (1123), the second material shifting mechanism (1124) and the third material shifting mechanism (1125) are used to shift the material cart from the system loading position to the loading grabbing position and the transition position in sequence.

4. The pallet loading and unloading system according to claim 3 is characterized in that: The first material shifting mechanism (1123) comprises: a first connecting plate (11231) connected to the first moving bar (1121), a first lifting cylinder (11232) arranged on the first connecting plate (11231), a first supporting plate (11233) drivingly connected to the first lifting cylinder (11232), and a first material shifting block (11234) arranged on the first supporting plate (11233); The second material shifting mechanism (1124) comprises: a second connecting plate (11241) connected to the first moving bar (1121), a second lifting cylinder (11242) arranged on the second connecting plate (11241), a second supporting plate (11243) drivingly connected to the second lifting cylinder (11242), and a second material shifting block (11244) arranged on the second supporting plate (11243). The third material shifting mechanism (1123) comprises: a third connecting plate (11251) connected to the first moving bar (1121), a third lifting cylinder (11252) arranged on the third connecting plate (11251), a third supporting plate (11253) transmission-connected to the third lifting cylinder (11252), and a third material shifting block (11254) arranged on the third supporting plate (11253).

5. The pallet loading and unloading system according to claim 4 is characterized in that: A first positioning mechanism (1126) is also provided on both sides of the front end of the loading and grabbing position, which is used to position the front end of the material cart before it enters the loading and grabbing position; a first lateral clamping positioning mechanism (1128) is also provided on both sides of the loading and grabbing position, which is used to position the front and rear ends of the material cart and clamp and fix the front and rear end beams of the material cart.

6. The pallet loading and unloading system according to claim 2 is characterized in that: The first loading and unloading module (120) includes: a first frame (121), a first lifting chuck mechanism (122), a first transverse chuck mechanism (123) and a second lifting chuck mechanism (124); the first lifting chuck mechanism (122) is arranged in a side area of ​​the first frame (121) corresponding to the loading grabbing position, and corresponds to the first end of the first transverse chuck mechanism (123); the first transverse chuck mechanism (123) is arranged at the upper end of the first frame (121); the second lifting chuck mechanism (124) is arranged corresponding to the docking position of the first docking module (130), and corresponds to the second end of the first transverse chuck mechanism (123).

7. The pallet loading and unloading system according to claim 6 is characterized in that: The first lifting chuck mechanism (122) comprises: a first lifting chain assembly (1221), a first lifting chuck claw (1222), and a first lifting chuck cylinder (1223) driving the first lifting chuck claw (1222); the first lifting chain assembly (1221) drives the first lifting chuck cylinder (1223) and the first lifting chuck claw (1222) to lift and lower; The second lifting chuck mechanism (124) comprises: a second lifting chain assembly (1241), a second lifting chuck claw (1242), and a second lifting chuck cylinder (1243) driving the second lifting chuck claw (1242); the second lifting chain assembly (1241) drives the second lifting chuck cylinder (1243) and the second lifting chuck claw (1242) to rise and fall; The first transverse chuck mechanism (123) comprises: a first transverse screw drive assembly (1231), a first transverse chuck gripper (1232) and a first transverse chuck cylinder driving the first transverse chuck gripper (1232); the first transverse screw drive assembly (1231) drives the first transverse chuck cylinder and the first transverse chuck gripper (1232) to move transversely.

8. The pallet loading and unloading system according to claim 2 is characterized in that: The first docking module (130) comprises: a first platform frame (131), a power roller (132) arranged on the platform frame (131), and a lifting mechanism (133) arranged at the bottom of the first platform frame (131); the lifting mechanism (133) comprises: a top plate (1331) and a lifting cylinder (1332) connected thereto in a transmission manner, and the top plate (1331) is arranged between the gaps of the power roller (132).

9. The pallet loading and unloading system according to claim 8, characterized in that: A plurality of guide limit plates (134) are also arranged around the first platform frame (131).

10. The pallet loading and unloading system according to claim 1, characterized in that: The second material transfer vehicle mechanism (212) comprises: a second mechanism bottom plate (2120), a second moving bar (2121), a second sliding seat (2122), a second driving motor (2129), and a material unloading unit shifting mechanism arranged on the second moving bar (2121), wherein the material unloading unit shifting mechanism is used to shift the material vehicle to move; the second sliding seat (2122) is fixed on the second mechanism bottom plate (2120), the second moving bar (2121) is slidably arranged on the second sliding seat (2122), the second driving motor (2129) is drivingly connected to the second moving bar (2121), and the material unloading unit shifting mechanism is arranged on the second moving bar (2121); The second loading and unloading module (220) comprises: a second frame (221), a third lifting chuck mechanism (222), a second transverse chuck mechanism (223) and a fourth lifting chuck mechanism (224); the third lifting chuck mechanism (222) is arranged in a side area of ​​the second frame (221) corresponding to the unloading placement position and corresponds to the first end of the second transverse chuck mechanism (223); the second transverse chuck mechanism (223) is arranged at the upper end of the second frame (221); the fourth lifting chuck mechanism (224) is arranged corresponding to the docking position of the second docking module (230) and corresponds to the second end of the second transverse chuck mechanism (223); The second docking module (230) comprises: a second platform frame (231), a second power roller (232) arranged on the second platform frame (231), and a second lifting mechanism (233) arranged at the bottom of the second platform frame (231); the second lifting mechanism (233) comprises: a second top plate (2331) and a second lifting cylinder (2332) connected thereto in a transmission manner, and the second top plate (2331) is arranged between the gaps of the second power roller (232).

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