An efficient material de-palletizing and loading vehicle system and its control method

Abstract

The present invention provides an efficient material de-palletizing and loading system and its control method, including: a material combining mechanism, which includes a laterally rotating material combining table, and the material combining table includes a number of material combining positions; a feeding mechanism, which includes a de-palletizing position located on one side of the material combining table, a feeding conveyor line for inputting materials with pallets to the de-palletizing position, and a discharging conveyor line for outputting the pallets on the de-palletizing position; a clamping mechanism, which transversely moves above the material combining table and the de-palletizing position, and the clamping mechanism is used to clamp the materials on the de-palletizing position to a number of material combining positions to form combined materials; a handling mechanism, which coaxially transversely moves to the other side of the material combining table, and the handling mechanism includes a loading device for carrying a number of combined materials. The combined materials can be quickly formed and rotated corresponding to the loading device, so that the loading method of single-row combined loading of ton bags can be quickly implemented, improving the loading efficiency. Moreover, the travel of the clamping mechanism clamping the ton bag materials for suspended movement can be shortened, and the stability of clamping and handling to complete the pallet removal task can be improved.

Description

Technical Field

[0001] The present invention relates to the field of loading systems, and in particular to an efficient material de-palletizing loading system and its control method. Background Art

[0002] At present, the flatbed truck loading system mainly includes a gantry moving along a ground rail, and a handling mechanism with a forklift installed on the gantry or a clamping mechanism installed on the gantry for clamping materials. Thus, it moves to the cargo position through the gantry, and after using the forklift of the handling mechanism to fork the palletized materials or only clamping the materials on the pallet through the clamping mechanism, it then moves to the corresponding position of the flatbed truck for discharging and loading.

[0003] However, although the above structure realizes the full-automatic loading of materials, for ton bag materials with large tonnage that require de-palletizing loading, the handling mechanism needs to fork the materials in cooperation with the pallet, and it cannot meet the loading requirement of removing the pallet and only loading the ton bags. The clamping mechanism can solve the requirement of de-palletizing loading. However, in the actual loading process, the clamping mechanism not only needs to move back and forth between the flatbed truck and the vertical warehouse storing the ton bags to suspend and carry the ton bags, but also needs to horizontally move to the corresponding position of the flatbed truck for discharging. That is, the clamping mechanism needs to clamp the large-tonnage ton bags for a long time and move them in suspension. This handling method will cause the risk of the ton bags sliding, shifting or even falling during the suspension movement. And if the clamping force is overly strengthened for this purpose, it will cause damage to the ton bags. Moreover, this handling method requires a long waiting time before loading each ton bag after the first one, and the handling efficiency is very low.

[0004] Therefore, the research purpose of the present invention is to design a flatbed truck loading system that can efficiently de-palletize and carry ton bags for loading in view of the problems existing in the above-mentioned prior art. Summary of the Invention

[0005] The present invention provides an efficient material de-palletizing loading system and its control method, which can effectively solve the above problems.

[0006] The present invention is implemented as follows:

[0007] An efficient material de-palletizing loading system includes:

[0008] A material merging mechanism, including a merging table driven to rotate horizontally by a rotary driving device, the merging table including a discharging structure for discharging materials and a plurality of merging positions arranged side by side along the axial direction;

[0009] A feeding mechanism, including a de-palletizing position located on one side of the merging table, a feeding conveyor for inputting palletized materials to the de-palletizing position, and a discharging conveyor for outputting the pallets on the de-palletizing position;

[0010] The clamping mechanism is driven by a transverse movement driving device to move coaxially in a transverse direction above the material combining table and the de-palletizing position. The clamping mechanism is used to clamp the material on the de-palletizing position to a plurality of the material combining positions to form combined materials.

[0011] The handling mechanism moves coaxially in a transverse direction on the other side of the material combining table. The handling mechanism includes a loading device for carrying a plurality of the combined materials and a blanking driving device for driving the loading device to unload materials. The rotation driving device is used to drive the material combining table to rotate transversely so that the discharging structure corresponds to the loading device.

[0012] Further, the material combining table extends in the front-rear direction, and the number of the material combining positions is set to two arranged side by side in the front-rear direction. The handling mechanism and the clamping mechanism move transversely in the front-rear direction. The number of the feeding conveyor lines is two, and they extend from the rear to the front and then extend towards each other to the de-palletizing position. The discharging conveyor line extends in the front-rear direction between the two feeding conveyor lines, and its feeding end corresponds to the de-palletizing position. The clamping mechanism is arranged above the discharging conveyor line with a gap to form a discharging gap. The two feeding conveyor lines are used to alternately input the materials with pallets towards the de-palletizing position.

[0013] Further, the feeding conveyor line includes two feeding conveyor devices for front-rear conveying, two groups of feeding conveyor belt groups for left-right conveying and respectively located at the front ends of the two feeding conveyor devices, two groups of feeding docking conveyor groups for front-rear conveying and respectively arranged in a lifting manner in the two feeding conveyor belt groups, and a de-palletizing conveyor belt group for left-right conveying and located between the two feeding conveyor belt groups. The discharging conveyor line includes a discharging docking conveyor group for front-rear conveying and arranged in a lifting manner in the de-palletizing conveyor belt group, and a discharging conveyor device for front-rear conveying and located between the two feeding conveyor devices. The feeding docking conveyor group is used to rise between the feeding conveyor belt groups and dock with the feeding conveyor device. The discharging docking conveyor group is used to rise between the de-palletizing conveyor belt groups and dock with the discharging conveyor device. The two feeding conveyor devices and one discharging conveyor device are arranged side by side in the left-right direction, and the de-palletizing position is formed on the de-palletizing conveyor belt group.

[0014] Further, the top of the material combining table includes a plurality of support rods arranged side by side at intervals in the front-rear direction. The discharging structure includes a plurality of material taking gaps extending in the left-right direction formed between the plurality of support rods. The loading device includes a plurality of forks extending in the front-rear direction and arranged side by side in the left-right direction. The blanking driving device includes a lifting driving assembly for driving the loading device to lift.

[0015] Further, the material combining mechanism further includes a sliding frame that is driven by a sliding drive device to slide back and forth between the de-palletizing position and the loading device. The material combining table is rotatably arranged on the sliding frame through a rotating seat. The rotation drive device includes the rotating seat and a swing oil cylinder for driving the rotating seat to rotate horizontally. The periphery of the bottom of the rotating seat is supported by a plurality of support wheels and rolls on the top of the sliding frame. After the rotation drive device drives the material combining table to rotate horizontally so that a plurality of the material taking gaps are coaxially corresponding to a plurality of the forks before and after, the sliding frame moves forward so that a plurality of the forks are inserted into a plurality of the material taking gaps, and the loading device rises and picks up the combined material through a plurality of the forks.

[0016] Further, the transverse movement drive device includes a support frame and a transverse movement motor arranged on the support frame. The clamping mechanism includes a transverse movement frame that is slidably arranged on the support frame and is driven by the transverse movement motor to move back and forth horizontally, a lifting frame that is slidably connected to the transverse movement frame up and down, a plurality of lifting oil cylinders that are connected between the transverse movement frame and the lifting frame and are used for driving the lifting frame to move up and down, and a clamping device arranged on the front side of the lifting frame. There are a plurality of the clamping devices and they are distributed at different levels up and down. Each clamping device includes a driving seat fixed on the front side of the lifting frame, two clamping members that are slidably connected to the driving seat left and right through sliding members and are corresponding left and right, and a clamping oil cylinder arranged on the driving seat and used for driving the two clamping members to move towards each other or move in the opposite direction.

[0017] Further, the clamping member includes clamping plates that extend back and forth and are connected to the sliding members. On the opposite sides of the two corresponding clamping plates, a plurality of clamping parts are respectively protruded. The plurality of clamping parts are distributed at different levels up and down and form a plurality of outward expansion areas therebetween. When the two clamping members of the plurality of clamping devices move towards each other to clamp the material, the material is clamped by a plurality of clamping parts and the side part is deformed and expanded outwards to a plurality of the outward expansion areas.

[0018] Further, the protruding heights of the plurality of clamping parts gradually increase from top to bottom, and the cross sections of the plurality of outward expansion areas are all trapezoids with a narrow upper part and a wide lower part.

[0019] Further, the lowermost clamping device further includes two bottom supporting members that are respectively limited and rotatably arranged at the lower ends of the two clamping plates and extend towards each other. A pressure relief area that is limited by the two bottom supporting members and expands after swinging downwards is formed between the two bottom supporting members and the lowermost two clamping parts. When the two clamping members of the plurality of clamping devices move towards each other to clamp the material, the material is clamped by a plurality of clamping parts, the side part is deformed and expanded outwards to a plurality of the outward expansion areas, the bottom part is deformed and supports the two bottom supporting members downwards, and the pressure is relieved and expanded outwards to the two pressure relief areas.

[0020] A control method for an efficient material de-palletizing and loading system, based on the above-mentioned efficient material de-palletizing and loading system, includes the following steps:

[0021] S1, Control the flatbed truck to drive into the parking area corresponding to the handling mechanism;

[0022] S3, Control the feeding conveyor line to input several palletized materials one by one to the de-palletizing position;

[0023] S3, Control the clamping mechanism to reciprocate horizontally to clamp the materials on the de-palletizing position and discharge them one by one to several merging positions on the merging table to form merged materials. At the same time, control the discharging conveyor line to output the pallets on the de-palletizing position after the clamping mechanism clamps the materials, and control the feeding conveyor line to input the next palletized material to the de-palletizing position when the clamping mechanism discharges the materials and resets;

[0024] S4, After the merged materials are formed on the merging table, control the rotary drive device to drive the merging table to rotate horizontally to the discharging structure corresponding to the loading device;

[0025] S5, After controlling the loading device to carry the merged materials through the discharging structure, control the steering drive device to control the loading device to rotate to the corresponding direction. At the same time, after controlling the handling mechanism to move horizontally to the loading position, control the blanking drive device to drive the loading device to discharge the merged materials to the loading position. Finally, the handling mechanism and the loading device reset and wait for the next round of handling;

[0026] S6, Loop S2~S5 until all materials are loaded.

[0027] The beneficial effects of the present invention are as follows:

[0028] 1. Through the addition of the merging mechanism, in cooperation with the handling mechanism, it is possible to perform single-row merging and loading of ton bag materials, improving the loading efficiency. On this basis, through the setting of the feeding conveyor line and the de-palletizing position, several palletized materials are fed one by one between the clamping mechanism and the merging table, enabling the clamping mechanism to horizontally move coaxially to clamp several materials one by one to several merging positions to form merged materials, and the merging table rotates to dock with the loading device of the handling mechanism. Thus, through the straight-line clamping of materials by the clamping mechanism to the merging table, the merging efficiency can be maximized, and the merged materials can be quickly formed and rotated to the corresponding loading device, thereby enabling the above-mentioned merging and loading method to be quickly implemented. At the same time, the above-mentioned merging method and merging and loading method can together shorten the travel of the clamping mechanism to clamp the ton bag materials and move them suspended. The long-travel clamping in the existing handling method, where the clamping mechanism needs to clamp the ton bag materials and move them forward and backward to the flatbed truck and then move left and right to the loading position, is replaced by the short-travel clamping of the clamping mechanism only clamping the ton bag materials from the de-palletizing position to the merging table, which can avoid the risk of the large-tonnage ton bag slipping, shifting, or falling during the suspended movement under clamping, greatly improving the stability of the clamping and handling to complete the pallet removal task, and further improving the stability of the subsequent merging and loading of the ton bag materials.

[0029] 2. The palletized materials alternately transported from the automated storage to the two feeding conveyor lines can cooperate with the reciprocating clamping frequency of the clamping mechanism and be fed alternately towards the de-palletizing position. During the reset process of the clamping mechanism, feeding starts at the de-palletizing position, greatly reducing the waiting time after the clamping mechanism resets. Subsequently, the waiting times of the subsequent material combining mechanism and handling mechanism are shortened, the working beats of the feeding mechanism and the clamping mechanism are increased, and the feeding efficiency of the bulk bag materials is improved. Moreover, by arranging the two feeding conveyor lines and one discharging conveyor line in an "E" shape, the transverse movement space of the clamping mechanism and the discharging conveyor line are stacked vertically, and a discharging gap is formed between them. Thus, on the premise of completing the feeding task of bulk bag materials and the pallet discharging task and improving the feeding efficiency of bulk bag materials, the structural compactness of the feeding mechanism and the clamping mechanism is improved, the overall floor area of the loading system is reduced, and the practicality and adaptability of the installation of the loading system are enhanced.

[0030] 3. The addition of the feeding docking conveyor group enables the docking of the palletized materials between the feeding conveyor device and the feeding conveyor belt group, and the feeding conveyor belt group is used to realize the turning transportation of the palletized materials, replacing the docking method in the prior art where a rotating conveyor roller is used to support the materials, turn them, and then input them into the next turning conveyor line. This can significantly improve the feeding speed of the bulk bag materials. The addition of the discharging docking conveyor group also enables the docking of the pallets between the de-palletizing conveyor belt group and the discharging conveyor device, which can greatly improve the discharging efficiency of the pallets. The feeding docking conveyor group and the discharging docking conveyor group are respectively arranged to be lifted and lowered within the corresponding feeding conveyor belt group and de-palletizing conveyor belt group. On the premise of realizing the docking function, the structural compactness of the feeding conveyor line and the discharging conveyor line is improved, and their floor space is reduced.

[0031] 4. By inserting several forklifts into the picking gap and lifting them, the combined materials on the material combining table can be quickly lifted and picked, greatly improving the discharging efficiency of the combined materials and further enhancing the loading efficiency of the materials. The addition of the sliding frame not only enables the material combining table to slide to the gap corresponding to the de-palletizing position to further shorten the suspended movement stroke of the materials clamped by the clamping mechanism and further improve the stability of clamping and handling, but also enables the combined materials on the material combining table to be formed, rotated 90° horizontally, and when the front and rear of several picking gaps are coaxially corresponding to several forklifts, they can quickly move forward through the sliding frame to several forklifts inserted into several picking gaps. Then, the lifting drive assembly drives the loading device to rise, and the combined materials can be picked up by several forklifts. There is no need for the handling mechanism to move horizontally back and forth to drive the loading device to dock with the material combining table, which can shorten the horizontal movement stroke of the handling mechanism, reduce costs, and further improve the efficiency of outputting the combined materials to the loading device. Moreover, through the rolling support of several supporting wheels, on the premise of improving the support strength of the material combining table, the smoothness of the horizontal rotation of the material combining table can be improved, avoiding the situation of rotation jamming due to heavy load, and enhancing the stability of its rotation and subsequent docking with the loading device.

[0032] 5. Through the provision of a number of clamping devices, when the clamping mechanism clamps the material, it clamps the outside of the material through a number of clamping members arranged at different vertical intervals, increasing the clamping contact area to improve the clamping stability.

[0033] 6. Through the addition of a number of clamping parts and expansion areas, when the two clamping members of a number of clamping devices move towards each other to clamp the material, the side of the material is deformed and expanded to a number of expansion areas after being clamped by a number of clamping parts. When the material is a ton bag, after its side is clamped and squeezed by a number of clamping parts, it can be deformed and expanded locally at intervals from top to bottom and embedded in a number of expansion areas, realizing the up-and-down limit between the ton bag and the clamping members, increasing the contact area between the clamping members and the side of the ton bag, reducing the risk of the ton bag deforming and slipping due to the internal product flowing downward towards the middle side, and further improving the clamping stability of the clamping device for the ton bag.

[0034] 7. By setting a number of clamping parts into a stepped shape with the protruding height gradually increasing from top to bottom, the cross-section of the expansion area is trapezoidal with a narrow top and a wide bottom. When the material is a ton bag, after its side is clamped and squeezed by a number of clamping parts, the internal product has a tendency to flow downward and release pressure outward into the expansion area. This can not only promote the local expansion and deformation of the side of the ton bag at intervals from top to bottom and embed it in a number of expansion areas, but also avoid the situation where the side of the ton bag is damaged due to excessive pressure after being clamped. Moreover, it can gradually increase the depth of the clamping part embedded in the side of the ton bag from top to bottom, and further gradually increase the supporting force of the clamping part on the side of the ton bag from top to bottom, further avoiding the risk of the ton bag deforming and slipping.

[0035] 8. Through the addition of two bottom support members, when the two clamping members of a number of clamping devices move towards each other to clamp the material, the side of the material is deformed and expanded to a number of expansion areas after being clamped by a number of clamping parts, the bottom is deformed and supports the two bottom support members downward and expands and releases pressure to two pressure release areas. When the material is a ton bag, after being clamped by a number of clamping parts, not only its side is squeezed and deformed and expanded locally at intervals from top to bottom and embedded in a number of expansion areas to realize the up-and-down limit between the ton bag and the clamping members, but also its bottom is squeezed and expanded to the pressure release area and supports the two bottom support members downward to rotate them to a limited position, expanding the volume of the pressure release area to release the pressure on the lower part of the ton bag, avoiding the risk of the bottom of the ton bag being damaged due to excessive pressure. At the same time, through the expansion and pressure release of the pressure release area, it increases the tendency of the internal product of the ton bag to flow downward and outward towards the expansion area, making the bottom of the ton bag further expand and squeeze into and be supported by the bottom support members, reducing the probability of the internal product of the ton bag flowing downward towards the middle side, avoiding the risk of the ton bag deforming and slipping due to the internal product flowing downward towards the middle side, making the whole ton bag deformed and embedded in a number of expansion areas and pressure release areas, further improving the clamping stability of the clamping device for the ton bag, and preventing the situation where the ton bag cannot stand stably on the feeding platform due to the excessive concentration of the internal product towards the middle side after being clamped by the clamping device, improving the stability of the ton bag after being clamped on the feeding platform, and further improving the stability of subsequent feeding and ton bag loading onto the vehicle. Description of the Drawings

[0036] Figure 1 It is a schematic structural diagram of an efficient material de-palletizing and loading system.

[0037] Figure 2 It is a partial top-view structural schematic diagram of an efficient material de-palletizing and loading system.

[0038] Figure 3 It is a schematic structural diagram of a feeding mechanism.

[0039] Figure 4 It is a schematic structural diagram of a material combining mechanism.

[0040] Figure 5 It is a side-view structural schematic diagram of the material combining mechanism.

[0041] Figure 6 It is a schematic structural diagram of a handling mechanism and a material combining table.

[0042] Figure 7 It is a schematic structural diagram of a clamping mechanism.

[0043] Figure 8 For Figure 7 The partial enlarged schematic diagram at position A in

[0044] Figure 9 It is a partial front-view structural schematic diagram of the clamping mechanism.

[0045] Reference Signs:

[0046] Material combining mechanism 1, material combining table 11, material combining position 111, support rod 112, material taking gap 113, rotary drive device 12, rotating seat 121, swing oil cylinder 122, support wheel 123, sliding frame 13, sliding drive device 14;

[0047] Feeding mechanism 2, de-palletizing position 21, feeding conveyor line 22, feeding conveyor device 221, feeding conveyor belt group 222, feeding docking conveyor group 223, de-palletizing conveyor belt group 224, discharging conveyor line 23, discharging docking conveyor group 231, discharging conveyor device 232;

[0048] Clamping mechanism 3, transverse movement frame 31, lifting frame 32, lifting oil cylinder 33, clamping device 34, drive seat 341, clamping member 342, clamping plate 3421, clamping part 3422, clamping groove 34221, outward expansion area 3423, sliding member 343, clamping oil cylinder 344, bottom pallet member 345, pressure relief area 346, limiting member 347, limiting part 3471;

[0049] Transverse movement drive device 4, support frame 41, transverse movement motor 42;

[0050] Handling mechanism 5, loading device 51, forklift 511, storage rack 512, blanking drive device 52, lifting drive assembly 521, blanking rack 522;

[0051] Travel drive device 6, ground rail 61, gantry 62, machine base 63, steering drive device 64. Detailed implementation

[0052] Embodiment 1

[0053] Refer to Figure 1-8 As shown in the figure, an efficient material pallet-removing and loading system includes:

[0054] The material combining mechanism 1 includes a combining table 11 driven to rotate horizontally by a rotation drive device 12. The combining table 11 includes a discharging structure for discharging materials and a plurality of combining positions 111 arranged side by side along the axial direction;

[0055] The feeding mechanism 2 includes a pallet-removing position 21 on one side of the combining table 11, a feeding conveyor line 22 for inputting palletized materials to the pallet-removing position 21, and a discharging conveyor line 23 for outputting the pallets on the pallet-removing position 21; specifically, the palletized materials are palletized ton bags, and the feeding end of the feeding conveyor line 22 is connected to the vertical warehouse outlet conveyor line, and a plurality of palletized ton bags are stored in the vertical warehouse;

[0056] The clamping mechanism 3 is driven to move horizontally coaxially above the combining table 11 and the pallet-removing position 21 by a lateral movement drive device 4. The clamping mechanism 3 is used to clamp the materials on the pallet-removing position 21 to a plurality of the combining positions 111 to form combined materials;

[0057] The handling mechanism 5 is driven to move horizontally coaxially to the other side of the combining table 11 by a travel drive device 6. The handling mechanism 5 includes a loading device 51 for carrying a plurality of the combined materials and a blanking drive device 52 for driving the loading device 51 to unload materials; the rotation drive device 12 is used to drive the combining table 11 to rotate horizontally so that the discharging structure corresponds to the loading device 51.

[0058] With the addition of the material combining mechanism 1, the above structure can, in cooperation with the handling mechanism 5, perform single-row material combining and loading for ton bag materials, improving the loading efficiency. On this basis, through the setting of the feeding conveyor line 22 and the de-palletizing position 21, a number of palletized materials are fed one by one between the clamping mechanism 3 and the material combining table 11, enabling the clamping mechanism 3 to horizontally traverse coaxially to clamp a number of materials one by one onto a number of material combining positions 111 to form combined materials. Then, the material combining table 11 rotates to dock with the loading device 51 of the handling mechanism 5. Thus, the material combining efficiency can be maximized by the method of linearly clamping materials by the clamping mechanism 3 onto the material combining table 11. The combined materials can quickly form and rotate to correspond to the loading device 51, further enabling the above material combining and loading method to be quickly implemented. At the same time, the above material combining method and material combining and loading method can together shorten the travel of the clamping mechanism 3 when clamping ton bag materials for suspended movement, replacing the long-travel clamping in the existing handling method where the clamping mechanism 3 needs to clamp ton bag materials and move them back and forth to the flatbed truck and then move them left and right to the loading position with the short-travel clamping where the clamping mechanism 3 only needs to clamp ton bag materials from the de-palletizing position 21 to the material combining table 11. This can avoid the risk of the large-tonnage ton bag sliding, shifting, or falling during the suspended movement under clamping, greatly improving the stability of the clamping and handling to complete the pallet removal task, and further improving the stability of the subsequent material combining and loading of ton bag materials.

[0059] To improve the feeding efficiency of palletized materials, the material combining table 11 extends longitudinally, and the number of material combining positions 111 is set to two arranged side by side longitudinally. The handling mechanism 5 and the clamping mechanism 3 traverse horizontally longitudinally. The number of feeding conveyor lines 22 is two, which extend from the back forward and then extend towards each other to the de-palletizing position 21. The discharging conveyor line 23 extends longitudinally and is located between the two feeding conveyor lines 22, and its feeding end corresponds to the de-palletizing position 21. The clamping mechanism 3 is arranged above the discharging conveyor line 23 with a gap to form a discharging gap. The two feeding conveyor lines 22 are used to alternately input palletized materials towards the de-palletizing position 21. This enables the palletized materials alternately transported from the automated storage and retrieval system to the two feeding conveyor lines 22 to be fed towards the de-palletizing position 21 in cooperation with the reciprocating clamping frequency of the clamping mechanism 3. So that during the reset process of the clamping mechanism 3, feeding starts at the de-palletizing position 21, greatly reducing the waiting time after the clamping mechanism 3 resets, and further shortening the waiting time of the subsequent material combining mechanism 1 and handling mechanism 5, improving the working rhythm of the feeding mechanism 2 and the clamping mechanism 3 to improve the feeding efficiency of ton bag materials. Moreover, by arranging the two feeding conveyor lines 22 and one discharging conveyor line 23 in an "E" shape, the horizontal movement space of the clamping mechanism 3 and the discharging conveyor line 23 are stacked vertically, and a discharging gap is formed between them. Thus, on the premise of completing the feeding task of ton bag materials and the pallet discharging task and improving the feeding efficiency of ton bag materials, the structural compactness of the arrangement of the feeding mechanism 2 and the clamping mechanism 3 is improved, the overall floor area of the loading system is reduced, and the practicality and adaptability of the installation of the loading system are improved.

[0060] To improve the structural compactness of the feeding conveyor line 22 and the discharging conveyor line 23, the feeding conveyor line 22 includes two feeding conveyor devices 221 for front-back conveying, two groups of feeding conveyor belt groups 222 for left-right conveying and respectively located at the front ends of the two feeding conveyor devices 221, two groups of feeding docking conveyor groups 223 for front-back conveying and respectively arranged in a liftable manner in the two feeding conveyor belt groups 222, and a de-palletizing conveyor belt group 224 for left-right conveying and located between the two feeding conveyor belt groups 222. The discharging conveyor line 23 includes a discharging docking conveyor group 231 for front-back conveying and arranged in a liftable manner in the de-palletizing conveyor belt group 224, and a discharging conveyor device 232 for front-back conveying and located between the two feeding conveyor devices 221. The feeding docking conveyor group 223 is used to rise between the feeding conveyor belt groups 222 and dock with the feeding conveyor device 221. The discharging docking conveyor group 231 is used to rise between the de-palletizing conveyor belt groups 224 and dock with the discharging conveyor device 232. The two feeding conveyor devices 221 and one discharging conveyor device 232 are arranged side by side left and right. A de-palletizing position 21 is formed on the de-palletizing conveyor belt group 224. Specifically, the feeding conveyor device 221 and the discharging conveyor device 232 are both roller conveyor devices, and the feeding docking conveyor group 223 and the discharging docking conveyor group 231 are both liftable roller conveyor devices. Thus, the docking of the palletized material between the feeding conveyor device 221 and the feeding conveyor belt group 222 is realized through the addition of the feeding docking conveyor group 223, and the turning conveyance of the palletized material is realized through the feeding conveyor belt group 222, replacing the docking method in the prior art of using a rotating conveyor roller to support the material, turning it, and then inputting it into the next turning conveyor line, which can greatly improve the feeding speed of the ton bag material. Also, the docking of the pallet between the de-palletizing conveyor belt group 224 and the discharging conveyor device 232 is realized through the addition of the discharging docking conveyor group 231, which can greatly improve the discharging efficiency of the pallet. And the feeding docking conveyor group 223 and the discharging docking conveyor group 231 are respectively arranged in a liftable manner in the corresponding feeding conveyor belt group 222 and de-palletizing conveyor belt group 224, which improves the structural compactness of the feeding conveyor line 22 and the discharging conveyor line 23 and reduces the floor space of the two under the premise of realizing the docking function.

[0061] In order to improve the discharging efficiency of the combined material, the top of the combined material table 11 includes a number of support rods 112 arranged side by side at intervals in the front-back direction. The discharging structure includes a number of material taking gaps 113 extending left and right formed between the support rods 112. The material loading device 51 includes a number of forks 511 extending in the front-back direction and arranged side by side in the left-right direction. The material discharging driving device 52 includes a lifting driving assembly 521 for driving the material loading device 51 to lift. Specifically, the lifting driving assembly 521 is a chain and sprocket lifting device. Thus, by inserting a number of forks 511 into the material taking gaps 113 and lifting, the combined material on the combined material table 11 can be quickly lifted, greatly improving the discharging efficiency of the combined material, and further improving the material loading efficiency.

[0062] In order to further improve the loading efficiency, the combined material mechanism 1 further includes a sliding frame 13 driven by a sliding driving device 14 to slide back and forth between the de-palletizing position 21 and the material loading device 51. The combined material table 11 is rotatably arranged on the sliding frame 13 through a rotating seat 121. The rotation driving device 12 includes the rotating seat 121 and a swing oil cylinder 122 for driving the rotating seat 121 to rotate horizontally. The periphery of the bottom of the rotating seat 121 is supported by a number of support wheels 123 rolling on the top of the sliding frame 13. Specifically, the sliding driving device 14 is a telescopic oil cylinder. By adding the sliding frame 13, not only can the combined material table 11 slide to the corresponding de-palletizing position 21 of the gap to further shorten the suspended moving stroke of the material clamped by the clamping mechanism 3 and further improve the stability of clamping and handling, but also after the combined material is formed on the combined material table 11 and rotated 90° horizontally so that a number of the material taking gaps 113 are coaxially corresponding to a number of the forks 511 in the front-back direction, it can quickly move forward through the sliding frame 13 to insert a number of the forks 511 into a number of the material taking gaps 113, so that the lifting driving assembly 521 drives the material loading device 51 to rise, and the combined material can be lifted by a number of the forks 511. There is no need for the handling mechanism 5 to move horizontally back and forth to drive the material loading device 51 to dock with the combined material table 11, which can shorten the horizontal moving stroke of the handling mechanism 5, reduce costs, and further improve the efficiency of outputting the combined material to the material loading device 51. Moreover, through the rolling support of a number of support wheels 123, on the premise of improving the support strength of the combined material table 11, the smoothness of the horizontal rotation of the combined material table 11 can also be improved, avoiding the situation of rotation jamming due to large load, and improving the stability of docking with the material loading device 51 after rotation.

[0063] Specifically, the transverse movement driving device 4 includes a support frame 41 and a transverse movement motor 42 disposed on the support frame 41. The clamping mechanism 3 includes a transverse movement frame 31 slidably disposed on the support frame 41 and driven by the transverse movement motor 42 to move back and forth, a lifting frame 32 slidably connected to the transverse movement frame 31 up and down, a plurality of lifting oil cylinders 33 connected between the transverse movement frame 31 and the lifting frame 32 and used to drive the lifting frame 32 to lift up and down, and a clamping device 34 disposed on the front side of the lifting frame 32. Thus, the lifting frame 32 is driven by the lifting oil cylinders 33 to lift, driving the clamping device 34 after clamping the material to lift, improving the stability of material de-palletizing.

[0064] To improve the clamping stability of the clamping mechanism 3, a plurality of the clamping devices 34 are provided and are distributed at intervals step by step up and down. Each clamping device 34 includes a driving seat 341 fixedly disposed on the front side of the lifting frame 32, two clamping members 342 slidably connected to the driving seat 341 left and right through sliding members 343 and corresponding to each other left and right, and a clamping oil cylinder 344 disposed on the driving seat 341 and used to drive the two clamping members 342 to move towards each other or in opposite directions. Thus, through the arrangement of a plurality of clamping devices 34, when the clamping mechanism 3 clamps the material, it clamps the outside of the material through a plurality of clamping members 342 arranged at intervals up and down, increasing the clamping contact area to improve the clamping stability.

[0065] Specifically, the traveling driving device 6 includes a gantry 62 that moves back and forth along two parallel ground rails 61. The handling mechanism 5 includes a machine base 63 suspended in the gantry 62, a steering driving device 64 disposed on the gantry 62 and used to drive the machine base 63 to rotate. The lifting driving assembly 521 is disposed inside the machine base 63. The blanking driving device 52 further includes a pitching driving assembly connected to the output end of the lifting driving assembly 521, and a blanking frame 522 driven by the telescopic scissors frame and used to push the combined materials on a plurality of the fork tines 511 to be discharged. The loading device 51 further includes a goods shelf 512 connected to the output end of the pitching driving assembly and including a plurality of the fork tines 511. The blanking frame 522 is disposed on the goods shelf 512. The pitching driving assembly is used to drive the goods shelf 512 to pitch to an inclined state. The handling mechanism 5 is a prior art and not the main inventive point of this application, and its specific structure will not be elaborated in detail here.

[0066] Further provided is a control method for an efficient material de-palletizing and loading system. Based on the above-mentioned efficient material de-palletizing and loading system, it includes the following steps:

[0067] S1, control the flatbed truck to drive into the parking area corresponding to the handling mechanism 5; specifically, the parking area is located between the two ground rails 61;

[0068] S2. Control the feeding conveyor line 22 to input several palletized materials one by one to the de-palletizing position 21. Specifically, control the two feeding conveyor devices 221 to feed several palletized materials alternately, and after receiving the materials through the raised feeding docking conveyor group 223, lower them onto the two feeding conveyor belt groups 222 for turning and conveying. The two feeding conveyor belt groups 222 feed the materials to the de-palletizing position 21 one by one alternately;

[0069] S3. Control the clamping mechanism 3 to reciprocate horizontally to clamp the materials on the de-palletizing position 21 and discharge them one by one onto several merging positions 111 on the merging table 11 to form merged materials. At the same time, control the discharging conveyor line 23 to output the pallets on the de-palletizing position 21 after the clamping mechanism 3 clamps the materials, and control the feeding conveyor line 22 to input the next palletized material to the de-palletizing position 21 when the clamping mechanism 3 discharges the materials and resets;

[0070] S4. After the merged materials are formed on the merging table 11, control the rotary drive device 12 to drive the merging table 11 to rotate horizontally to the corresponding position of the discharging structure relative to the loading device 51. Specifically, control the rotary drive device 12 to drive the merging table 11 to rotate horizontally by 90° so that several of the material taking gaps 113 are coaxially aligned with several of the forklift tines 511 front and back, and then control the sliding frame 13 to drive the merging table 11 to slide so that several of the forklift tines 511 are inserted into several of the material taking gaps 113;

[0071] S5. After controlling the loading device 51 to carry the merged materials through the discharging structure, specifically, control the lifting drive assembly 521 to drive the loading device 51 to rise and lift the merged materials by several forklift tines 511, control the steering drive device 64 to control the rotation of the loading device 51 to the corresponding direction. At the same time, control the traveling drive device 6 to drive the handling mechanism 5 to move horizontally to the loading position, and then control the unloading drive device 52 to drive the loading device 51 to unload the merged materials to the loading position. Specifically, the steering drive device 64 controls the rotation angle of the loading device 51 to be 180° and corresponding to the head of the flatbed truck, so as to transport the merged materials onto the flatbed truck and fill a row of loading positions. Finally, the handling mechanism 5 and the loading device 51 reset and wait for the next round of handling;

[0072] S6. Repeat S2 - S5 until all the materials are loaded after filling several rows of loading positions row by row.

[0073] Embodiment 2

[0074] When filling a ton bag with a large-tonnage ton bag with products having a certain fluidity such as powder or crystal particles, when the ordinary clamping mechanism 3 clamps, it is easy for the products inside to flow downward toward the middle side and deform and slip, making it difficult to stably complete the clamping work of the clamping mechanism 3. Therefore, referring to Figure 9 , the difference between this embodiment and Embodiment 1 is:

[0075] In order to improve the clamping stability of the clamping device 34, the clamping member 342 includes clamping plates 3421 that extend forward and backward and are connected to the sliding member 343. On the facing sides of the two clamping plates 3421 corresponding to the left and right, a plurality of clamping portions 3422 are respectively provided in a protruding manner. The plurality of clamping portions 3422 are distributed at intervals in the up and down direction, and a plurality of outward expansion regions 3423 are formed therebetween. The plurality of clamping portions 3422 extend forward and backward, and on the facing sides of the clamping portions 3422 corresponding to the left and right, clamping grooves 34221 adapted to the outer wall of the material are formed in a concave manner; thus, through the addition of the plurality of clamping portions 3422 and the outward expansion regions 3423, when the two clamping members 342 of the plurality of clamping devices 34 move towards each other to clamp the material, the material is deformed and expanded outward at the side after being clamped by the plurality of clamping portions, and reaches the plurality of outward expansion regions 3423. When the material is a ton bag, after its side is clamped and squeezed by the plurality of clamping portions, it can be locally expanded and deformed at intervals from top to bottom and embedded in the plurality of outward expansion regions 3423, realizing the up and down limit between the ton bag and the clamping member 342, increasing the contact area between the clamping member and the side of the ton bag, reducing the risk of the ton bag deforming and slipping due to the internal product flowing downward towards the middle side, and further improving the clamping stability of the clamping device 34 for the ton bag.

[0076] In order to improve the supporting force of the clamping portion, the protruding heights of the plurality of clamping portions 3422 gradually increase from top to bottom, and the cross-sections of the plurality of outward expansion regions 3423 are all trapezoids with a narrow upper part and a wide lower part. Thus, by arranging the plurality of clamping portions 3422 in a stepped shape with the protruding height gradually increasing from top to bottom, the cross-sections of the outward expansion regions 3423 are all trapezoids with a narrow upper part and a wide lower part. When the material is a ton bag, after its side is clamped and squeezed by the plurality of clamping portions, the internal product has a tendency to flow downward and release pressure outward into the outward expansion regions 3423. This can not only promote the local outward expansion and deformation of the ton bag side from top to bottom at intervals and embed it in the plurality of outward expansion regions 3423, but also avoid the situation that the ton bag side is damaged due to excessive pressure after being clamped. Moreover, it can gradually increase the depth of the clamping portion embedded in the ton bag side from top to bottom, and further gradually increase the supporting force of the clamping portion on the ton bag side from top to bottom, further avoiding the risk of the ton bag deforming and sliding down.

[0077] In order to further improve the clamping stability of the clamping device 34, the lowermost clamping device 34 further includes two bottom support members 345 respectively and rotatably limited at the lower ends of the two clamping plates 3421 and extending towards each other. A pressure relief area 346 that expands after being limited and swung downward by the two bottom support members 345 is formed between the two bottom support members 345 and the two lowermost clamping parts 3422. Specifically, the upper ends of the two bottom support members 345 are hinged to the lower ends of the corresponding clamping plates 3421, and the lower ends are arranged to be inclined and folded towards each other and extended. A plurality of limiting members 347 arranged side by side and spaced apart are fixedly provided on the outer sides of the upper ends of the two bottom support members 345. The upper ends of the plurality of limiting members 347 extend upward to form a limiting portion 3471 outside the clamping plate 3421. The two bottom support members 345 are restricted when rotating downward until the plurality of limiting portions 3471 abut against the outer side of the clamping plate 3421. Thus, by adding the two bottom support members 345, when the two clamping members 342 of the plurality of clamping devices 34 move towards each other to clamp the material, the side portion of the material is deformed and expanded outward to the plurality of outer expansion areas 3423 after being clamped by the plurality of clamping portions, the bottom is deformed and supports the two bottom support members 345 downward and expands and relieves pressure to the two pressure relief areas 346. When the material is a ton bag, after being clamped by the plurality of clamping portions, not only the side portion is extruded and partially expands and deforms from top to bottom and is embedded in the plurality of outer expansion areas 3423 to achieve upper and lower limiting between the ton bag and the clamping member 342, but also the bottom is extruded and expanded to the pressure relief area 346 and supports the two bottom support members 345 downward to rotate them to a restricted position, so as to expand the volume of the pressure relief area 346 and relieve the extrusion force on the lower part of the ton bag, avoiding the risk of rupture due to excessive pressure on the bottom of the ton bag. At the same time, by the expansion and pressure relief of the pressure relief area 346, the tendency of the product inside the ton bag to flow outward and downward towards the expansion area is increased, so that the bottom of the ton bag is further expanded and extruded into and supported by the bottom support member 345, reducing the probability of the product inside the ton bag flowing downward towards the middle side, and avoiding the risk of deformation and slipping of the ton bag due to the product inside the ton bag flowing downward towards the middle side. The whole ton bag is deformed and fitted into the plurality of outer expansion areas 3423 and the pressure relief area 346, further improving the clamping stability of the clamping device 34 for the ton bag, and preventing the situation that the ton bag cannot stand stably on the feeding table 11 due to the excessive concentration of the product inside the ton bag towards the middle side after being clamped by the clamping device 34, improving the stability of the ton bag after being clamped onto the feeding table 11, and further improving the stability of subsequent feeding and ton bag loading onto the vehicle.

[0078] It should be noted that the implementation principle and the technical effects generated by this embodiment are the same as those of the first embodiment. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding content in the first embodiment.

[0079] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An efficient material de-palletizing and loading system, characterized in that, Including: A material combining mechanism (1), including a material combining table (11) driven to rotate horizontally by a rotary driving device (12), wherein the material combining table (11) includes a discharging structure for discharging materials and a plurality of material combining positions (111) arranged side by side along the axial direction; A feeding mechanism (2), including a pallet removing position (21) located on one side of the material combining table (11), a feeding conveyor line (22) for inputting materials with pallets to the pallet removing position (21), and a discharging conveyor line (23) for outputting the pallets on the pallet removing position (21); A clamping mechanism (3), driven by a transverse movement driving device (4) to move coaxially horizontally above the material combining table (11) and the pallet removing position (21), wherein the clamping mechanism (3) is used for clamping the materials on the pallet removing position (21) to a plurality of the material combining positions (111) to form combined materials. The clamping mechanism (3) includes a plurality of clamping devices (34) distributed at different levels in the vertical direction. Each clamping device (34) includes clamping members (342) that can move towards or away from each other. The clamping members (342) include clamping plates (3421) with a plurality of clamping parts (3422) respectively protruding on the opposite sides facing each other. The plurality of clamping parts (3422) are distributed at different levels in the vertical direction and form a plurality of outward expansion areas (3423) therebetween. The protruding heights of the plurality of clamping parts (3422) gradually increase from top to bottom. The lowermost clamping device (34) further includes two bottom supporting members (345) respectively and rotatably limited at the lower ends of the two clamping plates (3421) and extending towards each other. A pressure relief area (346) that expands after being limited and swung downward by the two bottom supporting members (345) is formed between the two bottom supporting members (345) and the two lowermost clamping parts (3422). When the two clamping members (342) of the plurality of clamping devices (34) move towards each other to clamp the materials, the materials are clamped by a plurality of clamping parts, and the side parts are deformed and expanded outward to the plurality of outward expansion areas (3423), the bottom parts are deformed and support the two bottom supporting members (345) downward, and the pressure is relieved and expanded to the two pressure relief areas (346); A handling mechanism (5), moving coaxially horizontally on the other side of the material combining table (11), wherein the handling mechanism (5) includes a loading device (51) for carrying a plurality of the combined materials and a blanking driving device (52) for driving the loading device (51) to unload materials; the rotary driving device (12) is used for driving the material combining table (11) to rotate horizontally so that the discharging structure corresponds to the loading device (51).

2. The efficient material de-palletizing and loading vehicle system according to claim 1, wherein The material combining table (11) is arranged to extend forward and backward, and the number of the material combining positions (111) is set to two, arranged side by side in the front and back. The handling mechanism (5) and the clamping mechanism (3) are arranged to traverse horizontally in the front and back. The number of the feeding conveyor lines (22) is two, and after extending from the back to the front, they extend towards each other to the pallet removing position (21). The discharging conveyor line (23) extends forward and backward between the two feeding conveyor lines (22), and the feeding end corresponds to the pallet removing position (21). The clamping mechanism (3) is arranged above the discharging conveyor line (23) with a gap to form a discharging gap. The two feeding conveyor lines (22) are used to alternately input the palletized materials towards the pallet removing position (21).

3. The efficient material de-palletizing and loading vehicle system according to claim 2, characterized in that, The feeding conveyor line (22) includes two feeding conveyor devices (221) for front-back conveying, two groups of feeding conveyor belt groups (222) for left-right conveying and respectively located at the front ends of the two feeding conveyor devices (221), two groups of feeding docking conveyor groups (223) for front-back conveying and respectively arranged to be lifted and lowered in the two feeding conveyor belt groups (222), and a pallet removing conveyor belt group (224) for left-right conveying and located between the two feeding conveyor belt groups (222). The discharging conveyor line (23) includes a discharging docking conveyor group (231) for front-back conveying and arranged to be lifted and lowered in the pallet removing conveyor belt group (224), and a discharging conveyor device (232) for front-back conveying and located between the two feeding conveyor devices (221). The feeding docking conveyor group (223) is used to rise between the feeding conveyor belt groups (222) and dock with the feeding conveyor device (221). The discharging docking conveyor group (231) is used to rise between the pallet removing conveyor belt groups (224) and dock with the discharging conveyor device (232). The two feeding conveyor devices (221) and one discharging conveyor device (232) are arranged side by side left and right, and the pallet removing position (21) is formed on the pallet removing conveyor belt group (224).

4. The high-efficiency material de-palletizing and loading vehicle system according to claim 1, characterized in that, The top of the material combining table (11) includes a plurality of support rods (112) arranged side by side at intervals in the front and back. The discharging structure includes a plurality of material taking gaps (113) extending left and right formed between the plurality of support rods (112). The loading device (51) includes a plurality of forklifts (511) extending in the front and back and arranged side by side left and right. The blanking driving device (52) includes a lifting driving assembly (521) for driving the loading device (51) to lift and lower.

5. An efficient material de-palletizing and loading vehicle system according to claim 4, characterized in that, The material combining mechanism (1) further includes a sliding frame (13) driven by a sliding drive device (14) to slide back and forth between the pallet removal position (21) and the material loading device (51). The material combining table (11) is rotatably arranged on the sliding frame (13) through a rotating seat (121). The rotation drive device (12) includes the rotating seat (121) and a swing oil cylinder (122) for driving the rotating seat (121) to rotate horizontally. The periphery of the bottom of the rotating seat (121) is supported by a plurality of support wheels (123) and rolls on the top of the sliding frame (13). After the rotation drive device (12) drives the material combining table (11) to rotate horizontally so that a plurality of the material taking gaps (113) are coaxially corresponding to a plurality of the forklifts (511) before and after, the sliding frame (13) moves forward so that a plurality of the forklifts (511) are inserted into a plurality of the material taking gaps (113), and the material loading device (51) rises and picks up the combined material through a plurality of the forklifts (511).

6. An efficient material de-palletizing and loading vehicle system according to claim 2, characterized in that, The transverse movement drive device (4) includes a support frame (41) and a transverse movement motor (42) arranged on the support frame (41). The clamping mechanism (3) includes a transverse movement frame (31) slidably arranged on the support frame (41) and driven by the transverse movement motor (42) to move back and forth transversely, a lifting frame (32) slidably connected to the transverse movement frame (31) up and down, a plurality of lifting oil cylinders (33) connected between the transverse movement frame (31) and the lifting frame (32) and used for driving the lifting frame (32) to move up and down, and a clamping device (34) arranged on the front side of the lifting frame (32). Each clamping device (34) includes a driving seat (341) fixedly arranged on the front side of the lifting frame (32), two clamping members (342) slidably connected to the driving seat (341) left and right through sliding members (343) and corresponding to each other left and right, and a clamping oil cylinder (344) arranged on the driving seat (341) and used for driving the two clamping members (342) to move towards each other or in opposite directions.

7. An efficient material de-palletizing and loading vehicle system according to claim 6, characterized in that, The clamping member (342) includes a clamping plate (3421) extending forward and backward and connecting the sliding member (343). A plurality of clamping portions (3422) are respectively protruded on the opposite sides of the two clamping plates (3421) corresponding to each other left and right. The cross-sections of a plurality of the outward expansion areas (3423) are trapezoids with a narrow upper part and a wide lower part.

8. A control method for an efficient material de-palletizing and loading vehicle system, characterized in that, Based on the efficient material pallet removal and loading system according to any one of claims 1-7, the following steps are included: S1, controlling the flatbed truck to drive into the parking area corresponding to the handling mechanism (5); S2, controlling the feeding conveyor line (22) to input a plurality of palletized materials one by one into the pallet removal position (21); S3, controlling the clamping mechanism (3) to reciprocate transversely to clamp the materials at the pallet removal position (21) and discharge them one by one onto a plurality of material combining positions (111) on the material combining table (11) to form combined materials. At the same time, controlling the discharge conveyor line (23) to output the pallets at the pallet removal position (21) after the clamping mechanism (3) clamps the materials, and controlling the feeding conveyor line (22) to input the next palletized material into the pallet removal position (21) when the clamping mechanism (3) discharges the materials and resets. After the combined material is formed on the material combining table (11) at S4, control the rotation drive device (12) to drive the material combining table (11) to rotate horizontally until the discharging structure corresponds to the material loading device (51); At S5, after controlling the material loading device (51) to carry the combined material through the discharging structure, control the steering drive device (64) to control the material loading device (51) to rotate to the corresponding direction. At the same time, after controlling the handling mechanism (5) to traverse to the loading position, control the blanking drive device (52) to drive the material loading device (51) to discharge the combined material to the loading position. Finally, the handling mechanism (5) and the material loading device (51) return to their original positions and wait for the next round of handling; At S6, loop S2~S5 until all the materials are loaded onto the vehicle.

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