Loading and unloading equipment and cargo loading and unloading system

Abstract

The invention discloses loading and unloading equipment and a cargo loading and unloading system. The loading and unloading equipment comprises a rack, a marshalling mechanism and a marshalling driving mechanism, the marshalling mechanism is used for receiving goods and marshalling the goods according to a preset marshalling mode, and the marshalling mechanism comprises a marshalling frame and a marshalling platform. The grouping driving mechanism comprises a connecting rod set, a first driving part and a second driving part, the connecting rod set is connected with the rack and the grouping frame and comprises a first rod, a second rod and a third rod, the first rod and the second rod are hinged to the grouping frame and arranged oppositely, and the third rod is arranged opposite to the grouping frame; the second driving part is used for driving the third rod to rotate so that the marshalling frame can incline. According to the loading and unloading equipment, the position of the marshalling mechanism is adjusted through the marshalling driving mechanism, lifting of the marshalling frame in the horizontal state is controlled through the first driving part, the inclination angle of the marshalling frame is adjusted through the second driving part, and the moving reliability of the marshalling frame can be improved through independent control of the two actions.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and in particular to a loading and unloading device and a cargo loading and unloading system. Background Art

[0002] In order to reduce production costs, the logistics industry generally uses automated equipment for both warehousing and transportation. In logistics automation equipment, loading and unloading equipment is used to stack goods in containers or carriages, or to unload goods from containers or carriages.

[0003] In the related art, loading and unloading equipment uses a mechanical arm to control the position of the marshaling mechanism. However, the mechanical arm has the problem of low stability during use.

[0004] It should be noted that the statements in this background technology section only provide background technology related to the present application and do not necessarily constitute prior art. Summary of the invention

[0005] The present application provides a loading and unloading device and a cargo loading and unloading system to improve the stability of the movement of the marshaling mechanism.

[0006] The first aspect of the present application provides a loading and unloading device, comprising:

[0007] frame;

[0008] A marshaling mechanism, used to receive cargo and marshall the cargo according to a predetermined marshaling mode, the marshaling mechanism comprising a marshaling frame and a marshaling platform; and

[0009] The marshalling drive mechanism includes a connecting rod group, a first driving part and a second driving part. The connecting rod group connects the frame and the marshalling frame. The connecting rod group includes a first rod and a second rod which are hinged on the marshalling frame and arranged opposite to each other. The connecting rod group also includes a third rod which is arranged opposite to the marshalling frame. The connecting rod group and the marshalling frame form a four-bar mechanism. The first driving part is used to drive the first rod and the second rod to swing so that the marshalling frame can be raised or lowered. The second driving part is used to drive the third rod to rotate so as to adjust the angle of the marshalling frame.

[0010] In some embodiments, the first driving unit is disposed at an end of the frame away from the marshaling mechanism, and the marshaling driving mechanism further includes a chain connected to the connecting rod group, and the first driving unit drives the connecting rod group to swing through the chain.

[0011] In some embodiments, the marshaling drive mechanism further includes a counterweight, the first end of the chain is connected to the connecting rod assembly, and the second end of the chain is connected to the counterweight.

[0012] In some embodiments, the first end of the second driving part is fixedly connected to the frame, the second end of the second driving part is connected to the third rod, and the distance between the first end and the second end of the second driving part is variably set to drive the third rod to rotate.

[0013] In some embodiments, the frame includes a fixed frame and a telescopic frame that is telescopically arranged relative to the fixed frame, and the connecting rod group is connected to the telescopic frame. When the connecting rod group swings under the drive of the first driving unit to raise the marshalling frame, the telescopic frame is configured to move forward relative to the fixed frame to compensate for the distance moved toward the rear during the raising of the marshalling frame.

[0014] In some embodiments, the loading and unloading equipment also includes a cargo conveying mechanism, which is used to convey the cargo to the marshalling platform and includes a first conveying mechanism and a second conveying mechanism. The first end of the first conveying mechanism is rotatably connected to the marshalling platform, the second end of the first conveying mechanism is rotatably connected to the second conveying mechanism, the first end of the second conveying mechanism is connected to the telescopic frame, the second end of the second conveying mechanism is connected to the fixed frame, and the conveying length of the second conveying mechanism can be adjusted.

[0015] In some embodiments, the conveying length of the first conveying mechanism is adjustably arranged.

[0016] In some embodiments, the conveying surface of the first conveying mechanism is inclined relative to the bearing surface of the marshalling platform.

[0017] In some embodiments, the marshalling mechanism also includes a lifting and conveying unit arranged between the marshalling platform and the first conveying mechanism. The lifting and conveying unit can be lifted and lowered to switch between a first position and a second position. In the first position, the lifting and conveying unit is connected to the conveying surface of the first conveying mechanism to receive the goods conveyed by the first conveying mechanism; in the second position, the lifting and conveying unit is connected to the marshalling platform to convey the goods to the marshalling platform.

[0018] A second aspect of the present application provides a cargo loading and unloading system, comprising the above-mentioned loading and unloading equipment.

[0019] Based on the technical solution provided by the present application, the loading and unloading equipment includes a frame, a marshaling mechanism and a marshaling drive mechanism. The marshaling mechanism is used to receive goods and marshall the goods according to a predetermined marshaling mode. The marshaling mechanism includes a marshaling frame and a marshaling platform. The marshaling drive mechanism includes a connecting rod group, a first driving part and a second driving part. The connecting rod group connects the frame and the marshaling frame. The connecting rod group includes a first rod and a second rod hinged on the marshaling frame and arranged oppositely. The connecting rod group also includes a third rod arranged oppositely to the marshaling frame. The connecting rod group and the marshaling frame form a four-bar mechanism; the first driving part is used to drive the first rod and the second rod to swing so that the marshaling frame can be lifted and lowered, and the second driving part is used to drive the third rod to rotate to adjust the inclination angle of the marshaling frame. The loading and unloading equipment of the present application uses the marshaling drive mechanism to adjust the position of the marshaling mechanism, uses the first driving part to control the lifting and lowering of the marshaling frame, and uses the second driving part to adjust the inclination angle of the marshaling frame. The independent control of these two actions can improve the mobility reliability of the marshaling frame. Furthermore, the second driving part for controlling the inclination angle of the marshalling frame is arranged independently of the third rod, but is not integrated with the rod, thereby improving the stability of the movement of the marshalling mechanism.

[0020] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the loading and unloading equipment according to an embodiment of the present application.

[0023] Figures 2 to 4 for Figure 1 Schematic diagram of the working process of the loading and unloading equipment shown.

[0024] Figure 5 for Figure 4 A partial enlarged view of the loading and unloading equipment shown.

[0025] Figure 6 for Figure 1 Another variant embodiment of the loading and unloading equipment of the embodiment shown.

[0026] Figure 7 This is a schematic diagram of the three-dimensional structure of a loading and unloading device according to another embodiment of the present application.

[0027] Figures 8 to 11 for Figure 7 Schematic diagram of the working process of the loading and unloading equipment shown. Description of reference numerals:

[0028] 10. Loading and unloading equipment;

[0029] 1. Frame; 11. Fixed frame; 12. Telescopic frame; 13. Driving mechanism;

[0030] 2. Cargo conveying mechanism; 21. First conveying mechanism; 22. Second conveying mechanism; 23. Third conveying mechanism;

[0031] 3. marshaling mechanism; 31. marshaling frame; 32. marshaling platform; 33. lifting and conveying unit;

[0032] 9. marshaling drive mechanism; 91. connecting rod group; 911. first rod; 912. second rod; 913. third rod; 92. first driving part; 93. second driving part; 94. chain; 95. counterweight; 96; sprocket; 97. mounting frame. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0035] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, and the spatially relative descriptions used here are interpreted accordingly.

[0036] The cargo handling system generally includes a destacking device and a loading and unloading device, wherein the destacking device is used to destacker the cargo stack and transport the destackered cargo G to the loading and unloading device.

[0037] refer to Figure 1 and Figure 2 The loading and unloading device 10 receives the goods G delivered by the depalletizing device, and loads the goods G into the containing body C. Usually, the loading and unloading device 10 regroups the goods G. The goods G can be a cargo box filled with goods, or can be the goods themselves. The containing body C has a containing cavity for containing the goods G. Specifically, the containing cavity can be a square cavity with an opening. A part of the loading and unloading device 10 extends into the containing cavity for loading and unloading the goods. The opening side of the containing cavity is called the rear side, and the inner side of the containing cavity opposite to the opening side is called the front side. The containing body C can be a container or a carriage, etc.

[0038] In the related art known to the inventor, the marshaling mechanism of the loading and unloading equipment is raised or lowered by a four-bar linkage, but how to improve the motion stability of the four-bar linkage to improve the stability of the marshaling mechanism is a problem that needs to be solved.

[0039] To address this problem, the present application proposes a loading and unloading device to improve the stability of the movement of the marshaling mechanism.

[0040] According to the following Figures 1 to 11 The structure and working process of the loading and unloading equipment 10 in some embodiments of the present application are described in detail.

[0041] refer to Figure 1 and Figure 2 The embodiment of the present application provides a loading and unloading device 10. The loading and unloading device 10 includes a frame 1, a marshaling mechanism 3 and a marshaling driving mechanism 9.

[0042] refer to Figure 5The marshaling mechanism 3 is used to receive the goods and marshall the goods according to a predetermined marshaling mode. The marshaling mechanism 3 includes a marshaling frame 31 and a marshaling platform 32.

[0043] The marshaling drive mechanism 9 includes a connecting rod group 91, a first driving part 92 and a second driving part 93. The connecting rod group 91 connects the frame 1 and the marshaling frame 31 and includes a first rod 911 and a second rod 912 that are hinged on the marshaling frame 31 and are arranged opposite to each other, and a third rod 913 that is arranged opposite to the marshaling frame 31. The connecting rod group 91 and the marshaling frame 31 form a four-bar mechanism. The first driving part 92 is used to drive the first rod 911 and the second rod 912 to swing so that the marshaling frame 31 can be raised or lowered. The second driving part 93 is used to drive the third rod 913 to rotate to adjust the inclination angle of the marshaling frame 31.

[0044] The loading and unloading equipment 10 of the embodiment of the present application uses the marshaling drive mechanism 9 to adjust the position of the marshaling mechanism 3, uses the first drive unit 92 to control the lifting and lowering of the marshaling frame 31, and uses the second drive unit 93 to adjust the inclination angle of the marshaling frame 31. The independent control of these two actions can improve the movement reliability of the marshaling frame 31. In addition, the second drive unit 93 for controlling the inclination angle of the marshaling frame 31 is set independently from the third rod 913, and is not integrated with the rod, thereby improving the stability of the movement of the marshaling mechanism.

[0045] The first driving unit 92 controls the lifting and lowering of the marshalling frame 31, which means that the first driving unit 92 operates to drive the marshalling frame 31 to move in the height direction as a whole, that is, to rise or fall. During the lifting and lowering, the marshalling frame 31 can be in a horizontal state or in an inclined state.

[0046] Specifically, the four-bar linkage is a parallel four-bar linkage.

[0047] The loading and unloading equipment of the embodiment of the present application can automatically connect to the warehouse or production line conveyor line to realize automatic transportation of goods. In addition, the improvement of the stability of the marshaling mechanism can promote the high positioning accuracy of the code box and effectively improve the utilization rate of the container.

[0048] refer to Figure 2 When the marshaling mechanism 3 needs to stack the goods on the bottom layer and the goods on the lower layers, the marshaling mechanism 3 needs to be tilted relative to the horizontal plane so that the free end of the marshaling mechanism 3 tilts downward. Therefore, the marshaling drive mechanism 9 needs to drive the marshaling mechanism 3 to tilt it. Specifically, the second drive unit 93 drives the third rod 913 to tilt. Synchronously, the marshaling mechanism 3 will also tilt relative to the horizontal plane. At this time, the end of the marshaling mechanism 3 almost touches the bottom surface of the container C, and then pushes the goods onto the container. Figure 3 and Figure 4When the marshaling mechanism 3 gradually stacks the goods upward from the bottom of the container, the second driving part 93 drives the third rod 913 to swing and gradually reduce the inclination angle with the horizontal plane, and synchronously the inclination angle between the marshaling mechanism 3 and the horizontal plane also gradually decreases. Figure 3 The position shown, that is, the angle between the marshalling mechanism 3 and the horizontal plane is zero, that is, the marshalling mechanism 3 reaches a horizontal state.

[0049] refer to Figure 3 and Figure 4 When the marshalling mechanism 3 reaches a horizontal state and there are still several layers of cargo to be stacked from the top of the accommodating body C, the height of the marshalling mechanism 3 is raised by the first driving part 92 driving the second rod 912 to swing.

[0050] The loading and unloading equipment of the embodiment of the present application can better meet the usage requirements under different working conditions and improve the operational reliability of the loading and unloading equipment during the cargo circulation process.

[0051] refer to Figure 1 , the marshaling platform 32 is connected to the front side of the marshaling frame 31. The marshaling frame 31 includes two support beams respectively arranged at both ends of the marshaling platform 32 in the transverse direction. The two support beams are used to accommodate the cargo conveying mechanism 2 for conveying cargo to the marshaling platform 32. Moreover, the marshaling driving mechanism 9 of this embodiment includes two connecting rod groups 91 arranged in parallel and spaced apart, and the two connecting rod groups 91 are respectively connected to the two support beams, thereby making the movement of the marshaling mechanism 3 more stable.

[0052] refer to Figure 2 and Figure 3 In some embodiments, the first driving unit 92 is disposed at one end of the frame 1 away from the marshaling mechanism 3, and the marshaling driving mechanism 9 further includes a chain 94 connected to the connecting rod group 91, and the first driving unit 92 drives the connecting rod group 91 to swing through the chain 94. The first driving unit 92 is disposed farther away, so that the force point is away from the hinge point, which facilitates the arrangement of the counterweight 95 in the area where the fixed frame 11 is located, reduces the required pulling force, reduces the power driving power, and thus reduces the production cost.

[0053] Specifically, Figure 3 As shown, the marshaling drive mechanism 9 further includes a sprocket 96, which is arranged on the frame 1 and between the first drive part 92 and the connecting rod group 91 to transmit power. The arrangement of the sprocket 96 makes the power transmission of the chain 94 more stable.

[0054] like Figure 3 As shown, in some embodiments, the end of the chain 94 is connected to the second rod 912. In this way, the first driving part 92 directly drives the second rod 912 to rotate, thereby realizing the control of the swing of the connecting rod group 91.

[0055] In some embodiments, the first driving unit 92 may be a motor or the like.

[0056] refer to Figures 2 to 4 In some embodiments, the marshaling drive mechanism 9 further includes a counterweight 95. The first end of the chain 94 is connected to the connecting rod group 91, and the second end of the chain 94 is connected to the counterweight 95. When the first driving part 92 drives the second rod 912 to swing and the marshaling mechanism 3 is raised, the counterweight 95 moves downward. The setting of the counterweight 95 can improve the movement stability of the marshaling drive mechanism 9 on the one hand, and secondly, the counterweight 95 provides auxiliary force for the movement of the chain, thereby reducing the power demand for the first driving part 92, thereby reducing the production cost.

[0057] refer to Figure 2 In some embodiments, the first end of the second driving part 93 is fixedly connected to the frame 1, the second end of the second driving part 93 is connected to the third rod 913, and the distance between the first end and the second end of the second driving part 93 is variably set to drive the third rod 913 to rotate. In other words, the second driving part 93 of the embodiment of the present application directly drives the third rod 913 to rotate to change the angle between the third rod 913 and the first rod 911, thereby changing the angle between the third rod 913 and the horizontal plane so that the angle of the marshaling mechanism 3 changes.

[0058] Specifically, Figure 2 As shown, the marshaling drive mechanism 9 also includes a mounting frame 97 fixedly arranged on the frame 1. The first end of the second drive part 93 is fixedly connected to the mounting frame 97, and the second end of the second drive part 93 is connected to the third rod 913, so that when the length of the second drive part 93 changes, the third rod 913 can be pulled to rotate. The second drive part 93 can adopt a linear drive component such as an electric screw, a cylinder or a hydraulic cylinder. When an electric screw is adopted, its length can be accurately and stably controlled to more smoothly adjust the inclination angle of the marshaling mechanism 3.

[0059] In the above embodiments, when the four-bar linkage swings to raise the marshalling mechanism 3, the marshalling mechanism 3 will be moved backwards by a certain distance. In order to compensate for this distance, in some embodiments, the frame 1 includes a fixed frame 11 and a telescopic frame 12 that is telescopically arranged relative to the fixed frame 11. The connecting rod group 91 is connected to the telescopic frame 12. When the connecting rod group 9 swings under the drive of the first driving part 92 to raise the marshalling frame 31, the telescopic frame 12 is configured to move forward relative to the fixed frame 11 to compensate for the distance moved to the rear during the raising of the marshalling frame 31.

[0060] refer to Figures 8 to 9 When the marshaling mechanism 3 completes the stacking of the goods, it needs to be pulled out from the bottom of the goods group. Fig. 9As shown, when the depth of the cargo group is D, the telescopic frame 12 moves backward D relative to the fixed frame 11 so that the marshalling mechanism 3 is pulled out.

[0061] refer to Fig. 9 and Fig.10 , when the marshaling mechanism 3 is raised by one layer under the drive of the connecting rod group 91, specifically, the height of each layer is H, at this time, the telescopic frame 12 needs to move forward to compensate for the distance N1-N2, where N1 is the distance between the hinge point of the second rod 912 and the marshaling frame 31 and the telescopic frame 12 before the marshaling mechanism 3 is raised, and N2 is the distance between the hinge point of the second rod 912 and the marshaling frame 31 and the telescopic frame 12 after the marshaling mechanism 3 is raised. It can be seen that during the swinging process of the connecting rod group 91, the distance becomes shorter, thereby causing the marshaling mechanism 3 to retreat a distance. The embodiment of the present application compensates for the above distance by making the telescopic frame 12 telescope relative to the fixed frame 11.

[0062] like Figures 8 to 11 As shown, the loading and unloading equipment 10 includes a driving mechanism 13 for driving the telescopic frame 12 to move relative to the fixed frame 11.

[0063] refer to Figure 7 and Fig.11 In some embodiments, the loading and unloading equipment further includes a cargo conveying mechanism 2. The cargo conveying mechanism 2 is used to convey cargo to the marshaling platform 32 and includes a first conveying mechanism 21 and a second conveying mechanism 22. The first end of the first conveying mechanism 21 is rotatably connected to the marshaling platform 32, and the second end of the first conveying mechanism 21 is rotatably connected to the second conveying mechanism 22. The first end of the second conveying mechanism 22 is connected to the telescopic frame 12, and the second end of the second conveying mechanism 22 is connected to the fixed frame 11, and the conveying lengths of the first conveying mechanism 21 and the second conveying mechanism 22 are adjustable.

[0064] According to the above description, the angle of the marshaling platform 32 is variably set under the drive of the connecting rod group 91. Then, the first conveying mechanism 21 docked with the marshaling platform 32 is set to be rotatably connected with the marshaling platform 32, so as to avoid structural interference between the marshaling platform 32 and the first conveying mechanism 21 during the angle change of the marshaling platform 32, thereby ensuring the reliability of cargo transportation.

[0065] Furthermore, when the four-bar linkage swings to raise the marshalling mechanism 3, the marshalling mechanism 3 will retreat to the rear side by a certain distance. In order to adapt to the distance of retreat, the conveying length of the first conveying mechanism 21 is adjustable. For example, when the marshalling mechanism 3 is raised and causes the marshalling mechanism 3 to retreat to the rear side, the conveying surface of the first conveying mechanism 21 is shortened; when the marshalling mechanism 3 is lowered and causes the marshalling mechanism 3 to move to the front side, the conveying surface of the first conveying mechanism 21 is extended, thereby ensuring that the first conveying mechanism 21 can always maintain docking with the marshalling mechanism 3.

[0066] The cargo conveying mechanism of the embodiment of the present application further includes a second conveying mechanism 22. The first end of the second conveying mechanism 22 is connected to the telescopic frame 12, and the second end of the second conveying mechanism 22 is connected to the fixed frame 11. The conveying length of the second conveying mechanism 22 is adjustable. In this way, when the telescopic frame 12 moves relative to the fixed frame 11, the conveying length of the second conveying mechanism 22 can change accordingly, thereby ensuring the normal conveying of the cargo during the movement of the telescopic frame 12.

[0067] Specifically, the second conveying mechanism 22 is a telescopic belt mechanism, which includes a first belt segment that forms a conveying surface and a second belt segment that does not form a conveying surface. The first belt segment and the second belt segment are integrally arranged and wound around a plurality of pulleys. Both ends of the first belt segment are respectively wound around the first pulley and the second pulley. The distance between the first pulley and the second pulley is adjustable so that the length of the conveying surface can be adjusted.

[0068] In order to enable the loading and unloading equipment of the embodiment of the present application to stack more goods, in some embodiments, the conveying surface of the first conveying mechanism 21 is tilted relative to the bearing surface of the marshaling platform 32. In this way, when stacking goods on the bottom layer, the conveying surface of the first conveying mechanism 21 tilts downward; when stacking goods on a higher layer, the conveying surface of the first conveying mechanism 21 tilts upward.

[0069] like Figure 6 As shown, when the marshalling mechanism 3 is stacked on the top layer of the goods, the distance between the marshalling mechanism 3 and the containing body C is only slightly greater than the height of the goods G, and the goods are transported up at an angle through the first conveying mechanism 21. The inclined goods are very likely to collide with the containing body, thereby affecting the loading effect.

[0070] In some embodiments, the marshaling mechanism 3 further includes a lifting and conveying unit 33 disposed between the marshaling platform 32 and the first conveying mechanism 21. The lifting and conveying unit 33 can be lifted and lowered to switch between a first position and a second position. In the first position, the lifting and conveying unit 33 is connected to the conveying surface of the first conveying mechanism 21 to receive the goods conveyed by the first conveying mechanism 21; in the second position, the lifting and conveying unit 33 is connected to the marshaling platform 32 to convey the goods to the marshaling platform 32. In this way, the first conveying mechanism 21 first conveys the goods to the lifting and conveying unit 33 so that the goods conveyed obliquely return to the horizontal level, and then controls the lifting and conveying unit 33 to rise to a position level with the marshaling platform 32, and then conveys the goods to the marshaling platform, thereby avoiding collision between the goods and the containing body.

[0071] The embodiment of the present application also provides a cargo loading and unloading system, including the loading and unloading equipment 10 of the above embodiments.

[0072] According to the following Figures 1 to 11The structure and working process of the loading and unloading equipment in a specific embodiment of the present application are described in detail.

[0073] like Figure 1 As shown, the loading and unloading equipment 10 includes a frame 1, a cargo conveying mechanism 2, a marshaling mechanism 3 and a marshaling driving mechanism 9.

[0074] The frame 1 includes a fixed frame 11 and a telescopic frame 12. The fixed frame 11 plays the role of a main beam in the loading and unloading equipment, and various mechanisms and devices of the embodiment of the present application are directly or indirectly installed on the fixed frame 11. The telescopic frame 12 is telescopically arranged relative to the fixed frame 11.

[0075] The cargo conveying mechanism 2 includes a first conveying mechanism 21, a second conveying mechanism 22 and a third conveying mechanism 23. The third conveying mechanism 23 is fixedly arranged on the fixed frame 11 to convey the cargo to the second conveying mechanism 22. The first end of the second conveying mechanism 22 is connected to the telescopic frame 12, and the second end of the second conveying mechanism 22 is on the fixed frame 11, and the second conveying mechanism 22 moves synchronously with the telescopic frame 12. The second conveying mechanism 22 is used to convey the cargo to the first conveying mechanism 21. The first conveying mechanism 21 swings and rises together with the marshaling mechanism 3, and can convey the cargo to the marshaling mechanism 3 at the same time.

[0076] The marshaling mechanism 3 is used to receive goods and marshall the goods according to a predetermined marshaling mode to form a goods group. In order to effectively stack the goods at the stacking position and stack the goods into an ideal shape, the goods need to be marshaled in advance. The preset marshaling mode refers to a pre-designed arrangement of goods, for example, it can be arranged in a row, arranged in a column, or arranged in multiple rows or columns, the goods can be close to each other, or there can be gaps between the goods. The marshaling mode of the goods is preset according to the size, shape, position after stacking, and shape after stacking of the goods to be stacked.

[0077] The marshaling drive mechanism 9 includes a connecting rod group 91, a first driving part 92, a second driving part 93, a chain 94, a counterweight 95, a sprocket 96 and a mounting frame 97. The connecting rod group 91 includes a first rod 911, a second rod 912 and a third rod 913. The connecting rod group 91 moves under the drive of the first driving part 92 and the second driving part 93 to realize the lifting and lowering drive of the marshaling mechanism 3 and adjust the angle of the marshaling mechanism 3. For example, when the carriage arrives at the designated position, the telescopic frame 12 moves to lower the marshaling mechanism 3 and transport it to the designated position, and the second conveying mechanism 22 moves with the telescopic frame 12 in real time. According to the logical requirements of stacking goods from the bottom to the top of the carriage and from the inside to the outside, the marshaling drive mechanism 9 adjusts the position and angle of the marshaling mechanism 3 so that the goods are stacked as closely as possible. As the goods are continuously stacked, the telescopic frame 12 and the marshaling drive mechanism 9 continuously adjust the position and angle of the marshaling mechanism 3, and finally realize that the goods are tightly stacked in the carriage as required.

[0078] The working process of the marshaling mechanism 3 in the embodiment of the present application is as follows:

[0079] When the marshalling mechanism 3 stacks goods at the bottom layer of the containing body C, the second driving part 93 of the marshalling drive mechanism 9 drives the third rod 913 to swing and form an inclination angle with the horizontal plane, and the synchronous marshalling mechanism 3 swings to form the same inclination angle with the horizontal plane. At this time, the end of the marshalling mechanism 3 almost touches the bottom surface of the containing body, and then pushes the goods onto the containing body.

[0080] When the marshaling mechanism 3 stacks the second, ..., nth layer of the container, the first driving part 92 of the marshaling driving mechanism 9 drives the second rod 912 to swing and reduce the tilt angle with the horizontal plane, and the synchronous marshaling mechanism 3 swings to reduce the tilt angle with the horizontal plane, and the end of the marshaling mechanism 3 is raised. At this time, the telescopic frame 12 is moved into the container to compensate for the swinging backward movement distance of the end of the marshaling mechanism 3 during the lifting, and the second layer is stacked after positioning. Repeat the above actions and continue to stack the third, ..., nth layer until the tilt angle between the marshaling mechanism 3 and the horizontal plane is zero, that is, the marshaling mechanism 3 reaches the horizontal level.

[0081] When the marshalling mechanism 3 reaches the horizontal position, there are still several layers of cargo to be stacked from the top of the container. At this time, the height of the marshalling mechanism 3 is raised by the first driving part 92 driving the second rod 912 to swing, and the counterweight 95 moves downward. At this time, the telescopic frame 92 is moved into the container to compensate for the distance that the end of the marshalling mechanism 3 swings backward during the lifting. After positioning, this action is repeated until the cargo is stacked to the top layer.

[0082] When stacking to the top layer of the cargo, the distance between the marshaling mechanism 3 and the container is only slightly greater than the height of the cargo, and the cargo is tilted and transported upward by the first conveying mechanism 21. The tilted cargo may collide with the container, thereby affecting the effect of automatic loading. The lifting and conveying part 33 on the marshaling mechanism 3 is mainly used to first return the cargo tilted and transported upward by the first conveying mechanism 21 to a horizontal level when stacking to the top layer of the cargo, then raise the marshaling platform, and finally stack to the top layer of the container.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application rather than to limit it. Although the present application has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present application can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present application, which should be included in the scope of the technical solution for protection in the present application.

Claims

1. A loading and unloading equipment, characterized in that: include: Rack(1); A marshaling mechanism (3) is used to receive the goods (G) and marshall the goods (G) according to a predetermined marshaling mode, wherein the marshaling mechanism (3) comprises a marshaling frame (31) and a marshaling platform (32); and A marshalling drive mechanism (9) comprises a connecting rod group (91), a first driving part (92) and a second driving part (93); the connecting rod group (91) connects the frame (1) and the marshalling frame (31); the connecting rod group (91) comprises a first rod (911) and a second rod (912) which are hinged on the marshalling frame (31) and arranged opposite to each other; the connecting rod group (91) further comprises a third rod (913) which is arranged opposite to the marshalling frame (31); the connecting rod group (91) and the marshalling frame (31) form a four-bar mechanism; the first driving part (92) is used to drive the first rod (911) and the second rod (912) to swing so that the marshalling frame (31) can be raised or lowered; the second driving part (93) is used to drive the third rod (913) to rotate so as to adjust the inclination angle of the marshalling frame (31).

2. The loading and unloading equipment according to claim 1, characterized in that: The first driving part (92) is arranged at an end of the frame (1) away from the marshaling mechanism (3), and the marshaling driving mechanism (9) further comprises a chain (94) connected to the connecting rod group (91), and the first driving part (92) drives the connecting rod group (91) to swing via the chain (94).

3. The loading and unloading equipment according to claim 2, characterized in that: The marshaling drive mechanism (9) further comprises a counterweight (95), a first end of the chain (94) being connected to the connecting rod group (91), and a second end of the chain (94) being connected to the counterweight (95).

4. The loading and unloading equipment according to claim 1, characterized in that: The first end of the second driving part (93) is fixedly connected to the frame (1), the second end of the second driving part (93) is connected to the third rod (913), and the distance between the first end and the second end of the second driving part (93) is variably arranged to drive the third rod (913) to rotate.

5. The loading and unloading equipment according to claim 1, characterized in that: The frame (1) comprises a fixed frame (11) and a telescopic frame (12) which is telescopically arranged relative to the fixed frame (11); the connecting rod group (91) is connected to the telescopic frame (12); when the connecting rod group (9) is driven by the first driving part (92) to swing so that the marshalling frame (31) is raised, the telescopic frame (12) is configured to move forward relative to the fixed frame (11) to compensate for the distance moved toward the rear during the process of the marshalling frame (31) being raised.

6. The loading and unloading equipment according to claim 5, characterized in that: The loading and unloading equipment further comprises a cargo conveying mechanism (2), the cargo conveying mechanism (2) being used to convey cargo to the marshaling platform (32), and the cargo conveying mechanism (2) comprising a first conveying mechanism (21) and a second conveying mechanism (22), the first end of the first conveying mechanism (21) being rotatably connected to the marshaling platform (32), the second end of the first conveying mechanism (21) being rotatably connected to the second conveying mechanism (22), the first end of the second conveying mechanism (22) being connected to the telescopic frame (12), the second end of the second conveying mechanism (22) being connected to the fixed frame (11), and the conveying length of the second conveying mechanism (22) being adjustable.

7. The loading and unloading equipment according to claim 6, characterized in that: The conveying length of the first conveying mechanism (21) is adjustable.

8. The loading and unloading equipment according to claim 6, characterized in that: The conveying surface of the first conveying mechanism (21) is arranged obliquely relative to the bearing surface of the marshaling platform (32).

9. The loading and unloading equipment according to claim 8, characterized in that: The marshaling mechanism (3) further comprises a lifting and conveying section (33) arranged between the marshaling platform (32) and the first conveying mechanism (21); the lifting and conveying section (33) is liftably arranged to switch between a first position and a second position; in the first position, the lifting and conveying section (33) is docked with a conveying surface of the first conveying mechanism (21) to receive goods conveyed by the first conveying mechanism (21); in the second position, the lifting and conveying section (33) is docked with the marshaling platform (32) to convey the goods to the marshaling platform (32).

10. A cargo handling system, characterized in that: Comprising the loading and unloading equipment as claimed in any one of claims 1 to 9.

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