Automatic support stacking machine, support stacking method and support taking method

Abstract

The invention relates to the technical field of industrial machinery, in particular to an automatic tray stacking machine, a tray stacking method and a tray taking method, manual intervention is not needed in the automatic tray stacking process of the tray stacking machine, the steps of tray taking and stacking are simplified, and the working efficiency is remarkably improved. By accurately controlling forking and moving operations, stacking of a plurality of trays can be completed in a short time, and the stacking working efficiency and scene adaptability are improved; the steps and methods of pallet forking, pallet stacking and pallet taking of the pallet stacking machine are simple and rapid, excessive operation space does not need to be occupied, the pallet stacking machine only has two working procedures of ascending and descending, the scene adaptability is high, and the method better conforms to the operation environment and the operation process of the AGV.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial machinery, and more particularly to an automatic tray stacking machine, a tray stacking method and a tray taking method. Background Art

[0002] Pallets are commonly used in the logistics industry and factories to transport materials. When the pallets are used up, they need to be recycled and stored. Empty pallets are usually stacked to reduce storage space. The currently used pallet stacking machines, such as an automatic pallet stacking machine with patent publication number CN109760877B, have complicated procedures for taking, stacking and transporting pallets, complex movements, large equipment size, large footprint, and high requirements for working space. They are not suitable for the narrow environment where AGV carts are used, and the adaptability of AGV carts to the use scenarios is low. Therefore, this patent proposes a pallet stacking machine for use with a fork-picking AGV cart, which can greatly simplify the structure of the pallet stacking machine and realize the automatic recycling, stacking and storage of empty pallets. Summary of the invention

[0003] In view of the deficiencies in the prior art, an object of the present invention is to provide an automatic tray stacking machine, a tray stacking method and a tray retrieval method to solve the problems existing in the above-mentioned background technology.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions: an automatic pallet stacking machine, comprising a pallet stacking frame and a fork picking assembly for forking the pallet on an AGV trolley; a pallet picking area for docking with the AGV trolley is provided in the pallet stacking frame; the pallet stacking frame is provided with: a lifting assembly for lifting the fork picking assembly and a guide assembly for guiding the fork picking assembly; the lifting assembly is detachably connected to the pallet stacking frame; the fork picking assembly is fixedly connected to the output end of the lifting assembly and is located in the pallet picking area; the guide assembly is detachably connected to the pallet stacking frame; the guide end of the guide assembly is detachably connected to the fork picking assembly.

[0005] Optionally, the fork assembly includes: a first connecting plate and a second connecting plate; the first connecting plate and the second connecting plate are respectively provided with a plurality of hook members for forking the pallet; the first connecting plate and the second connecting plate are respectively fixedly connected to the output end of the lifting assembly; the first connecting plate and the second connecting plate are respectively detachably connected to the guide end of the guide assembly.

[0006] Optionally, the hook member includes: a mounting seat, a fork rod and a spring member for keeping the fork rod horizontal; the mounting seat is detachably connected to the corresponding first connecting plate or second connecting plate; the fork rod is rotatably connected to the mounting seat; the spring member is detachably connected to the mounting seat and abuts against the fork rod.

[0007] Optionally, the guide assembly includes: at least one first slider, at least one first guide rail corresponding to the first slider, at least one second slider and at least one second guide rail corresponding to the second slider; the first guide rail and the second guide rail are respectively detachably connected to the stacking frame; one end of the first slider is detachably connected to the first connecting plate; the other end of the first slider is slidably connected to the first guide rail; one end of the second slider is detachably connected to the second connecting plate; the other end of the second slider is slidably connected to the second guide rail.

[0008] Optionally, the lifting assembly includes: a first transmission member for driving the first connecting plate to lift, a second transmission member for driving the second connecting plate to lift, a transmission shaft for driving the first transmission member and the second transmission member, and a driving member for driving the transmission shaft to rotate; the driving member is detachably connected to the stacking frame; the output end of the driving member is transmission-connected to the transmission shaft; the first transmission member is detachably connected to the stacking frame; the input end of the first transmission member is transmission-connected to one end of the transmission shaft, and the output end of the first transmission member is fixedly connected to the first connecting plate; the second transmission member is detachably connected to the stacking frame; the input end of the second transmission member is transmission-connected to the other end of the transmission shaft; the output end of the second transmission member is fixedly connected to the second connecting plate.

[0009] Optionally, the first transmission member includes: a first sprocket, a first chain, a second sprocket, a second chain, a first connecting seat and a third sprocket; the first sprocket and the second sprocket are respectively arranged on the top of the stacking frame, and the first sprocket and the second sprocket are respectively detachably connected to the stacking frame; one end of the first sprocket is transmission-connected to the transmission shaft; the first chain is respectively wound around the other end of the first sprocket and one end of the second sprocket; the third sprocket is arranged at the bottom of the stacking frame, and the third sprocket is detachably connected to the stacking frame; the second chain is respectively wound around the other end of the second sprocket and the third sprocket; the first connecting seat is arranged on the second chain, and the first connecting seat is detachably connected to the first connecting plate.

[0010] Optionally, the second transmission member includes: a fourth sprocket, a third chain, a fifth sprocket, a fourth chain, a second connecting seat and a sixth sprocket; the fourth sprocket and the fifth sprocket are respectively arranged on the top of the stacking frame, and the fourth sprocket and the fifth sprocket are respectively detachably connected to the stacking frame; one end of the fourth sprocket is transmission-connected to the other end of the transmission shaft; the third chain is respectively wound around the other end of the fourth sprocket and one end of the fifth sprocket; the sixth sprocket is arranged at the bottom of the stacking frame, and the sixth sprocket is detachably connected to the stacking frame; the fourth chain is respectively wound around the other end of the fifth sprocket and the sixth sprocket; the second connecting seat is arranged on the fourth chain; the second connecting seat is detachably connected to the second connecting plate.

[0011] Optionally, the stacking frame is further provided with a plurality of arranging members for arranging and guiding the forked pallets; the plurality of arranging members are detachably connected to the stacking frame and are located in the pallet taking area.

[0012] A pallet stacking method based on the above-mentioned automatic pallet stacking machine comprises:

[0013] Step A: In the initial state, no pallet is forked in the stacking frame, and the fork arm assembly is at a high position on the stacking frame. At this time, the AGV trolley carries the pallet into the pallet picking area;

[0014] Step B: When the AGV trolley carries the pallet to the designated position, the lifting assembly drives the fork assembly to descend. When the fork assembly descends to the same height as the top of the pallet, the hook member on the first connecting plate and the hook member on the second connecting plate contact the top of the pallet and start to rotate, so that the hook member avoids the pallet.

[0015] Step C, when the fork assembly descends to the same height as the side hole of the pallet, the hook member on the first connecting plate and the hook member on the second connecting plate rebound and rotate into the side hole of the pallet, so that the pallet can be forked. At this time, the fork assembly is in the pallet taking position of the stacking frame;

[0016] Step D: When the hook member on the first connecting plate and the hook member on the second connecting plate fork the pallet, the lifting assembly drives the fork assembly to rise from the pallet taking position of the stacking frame to the high position of the stacking frame; during the rising process of the fork assembly, the hook member on the first connecting plate and the hook member on the second connecting plate fork the pallet and drive the pallet to rise, so that the pallet and the AGV trolley are separated to achieve the fork support effect;

[0017] Step E: When at least one pallet is forked on the stacking frame, when another pallet needs to be forked, the pallet that has been forked by the stacking frame will be placed on the pallet to be forked this time to achieve the stacking effect, and steps AD are repeated to achieve the forked pallet stacking effect.

[0018] A method for removing trays based on the above-mentioned automatic tray stacking machine comprises:

[0019] Step A: A number of stacked pallets have been forked on the stacking frame, and an empty AGV enters the pallet picking area. The lifting component drives the forking component to drive the stacked pallets to descend from the high top of the stacking frame to the low bottom of the stacking frame;

[0020] Step B: During the descent of the forklift assembly, the bottom pallet among the stacked pallets will first contact the AGV trolley, and at this time, the stacked pallets have been placed on the AGV trolley;

[0021] Step C: After the stacked pallets are placed on the AGV, the fork assembly continues to descend, and the hook member on the first connecting plate and the hook member on the second connecting plate contact the lower edge of the pallet and rotate to make the hook member avoid the pallet; when the fork assembly descends to completely below the bottom of the pallet, the fork assembly is separated from the stacked pallets;

[0022] Step D: The AGV drives the stacked pallets to leave the unloading area of ​​the pallet stacking frame, completing the unloading step.

[0023] In summary, the present invention has the following beneficial effects:

[0024] 1. The automated pallet stacking process of the stacking machine does not require manual intervention, simplifies the steps of picking up and stacking pallets, and significantly improves work efficiency. By precisely controlling the fork picking and moving operations, multiple pallets can be stacked in a short time, increasing the work efficiency and scene adaptability of the stacking machine.

[0025] 2. The steps of fork-lifting, stacking and removing pallets of the pallet stacking machine are simple and quick, without taking up too much working space. The pallet stacking machine has only two processes of rising and falling, and has high scene adaptability, which is more in line with the working environment and working process of the AGV vehicle.

[0026] 3. The modular detachable design of the stacking machine allows the equipment to be quickly adjusted and upgraded according to different operating requirements, which enhances the applicability of the equipment. At the same time, the stacking machine has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0028] Figure 2 It is a schematic diagram of one embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of another embodiment of the present invention;

[0030] Figure 4 yes Figure 1 Schematic diagram of the specific structure of part A.

[0031] In the figure: 1, stacking frame; 11, tray taking area; 2, fork taking assembly; 21, first connecting plate; 22, second connecting plate; 23, hook member; 231, mounting seat; 232, fork rod; 233, spring member; 3, lifting assembly; 31, first transmission member; 310, first sprocket; 311, first chain; 312, second sprocket; 313, second chain; 314, first connecting seat; 315, third sprocket; 32, second transmission member; 321, fourth sprocket; 322, third chain; 323, fifth sprocket; 324, fourth chain; 325, second connecting seat; 326, sixth sprocket; 33, transmission shaft; 34, driving member; 4, guide assembly; 41, first slider; 42, second slider; 43, first guide rail; 44, second guide rail; 5, arranging member; 6, tray. DETAILED DESCRIPTION

[0032] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. Several embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein.

[0033] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0034] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions are for illustrative purposes only, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0036] The present invention provides an automatic stacking machine, such as Figure 1 As shown, it includes a stacking frame 1 and a fork picking assembly 2 for forking the pallet 6 on the AGV trolley; the stacking frame 1 is provided with a pallet picking area 11 for docking with the AGV trolley; the stacking frame 1 is provided with: a lifting assembly 3 for lifting the fork picking assembly 2 and a guide assembly 4 for guiding the fork picking assembly 2; the lifting assembly 3 is detachably connected to the stacking frame 1; the fork picking assembly 2 is fixedly connected to the output end of the lifting assembly 3 and is located in the pallet picking area 11; the guide assembly 4 is detachably connected to the stacking frame 1; the guide end of the guide assembly 4 is detachably connected to the fork picking assembly 2.

[0037] During the specific implementation process, the AGV trolley carries the pallet 6 into the pallet picking area 11 in the stacking frame 1, and the lifting component 3 drives the fork picking component 2 to fork the pallet 6 on the AGV trolley under the guidance of the guide component 4, thereby completing the pallet picking step, which is simple and quick; when taking multiple pallets 6, the forked pallet 6 is placed on the AGV trolley, and then the bottom pallet 6 is forked, so that all the pallets 6 are forked, so that the stacking machine has a smaller footprint and can operate efficiently in a limited space, thereby improving the utilization efficiency of the storage space and allowing more pallets 6 to be managed in a smaller area.

[0038] Furthermore, the fork-picking assembly 2 includes: a first connecting plate 21 and a second connecting plate 22; the first connecting plate 21 and the second connecting plate 22 are respectively provided with a plurality of hook members 23 for forking the pallet 6; the first connecting plate 21 and the second connecting plate 22 are respectively fixedly connected to the output end of the lifting assembly 3; the first connecting plate 21 and the second connecting plate 22 are respectively detachably connected to the guide end of the guide assembly 4.

[0039] In the first embodiment, Figure 1-2 As shown, the lifting assembly 3 synchronously drives the first connecting plate 21 and the second connecting plate 22 to lift, so that the hook member 23 on the first connecting plate 21 and the hook member 23 on the second connecting plate 22 can fork the pallet 6 on the AGV trolley.

[0040] Furthermore, the hook member 23 includes: a mounting seat 231, a fork rod 232 and a spring member 233 for keeping the fork rod 232 horizontal; the mounting seat 231 is detachably connected to the corresponding first connecting plate 21 or second connecting plate 22; the fork rod 232 is rotatably connected to the mounting seat 231; the spring member 233 is detachably connected to the mounting seat 231 and abuts against the fork rod 232.

[0041] In the second embodiment, Figure 4 As shown, taking the hook member 23 on the first connecting plate 21 as an example, under the action of the spring member 233, the fork rod 232 always maintains a horizontal state. During the descending process of the first connecting plate 21, the bottom of the fork rod 232 contacts the pallet 6, causing the fork rod 232 to rotate counterclockwise along the mounting seat 231 as the center, thereby allowing the fork rod 232 to avoid the pallet 6. When the first connecting plate 21 moves to the gap below the pallet 6, the elastic force of the spring member 233 causes the fork rod 232 to rotate clockwise along the mounting seat 231 as the center, thereby extending the fork rod 232 into the gap at the bottom of the pallet 6, so that the first connecting plate 21 can drive the fork rod 232 to move, thereby forking the pallet 6.

[0042] In other embodiments, the spring member 233 may use other driving components, such as a driving motor, to drive the fork rod 232 to rotate or linearly extend and retract, which can further prevent the fork rod 232 from contacting the pallet 6 or the AGV cart, better protect the hook member 23, the pallet 6 and the AGV cart, and further improve the service life of the stacking machine. At the same time, it can solve the problem that the spring reset method can only support the pallet in one direction, so that the stacking machine can realize the function of removing the pallet.

[0043] Furthermore, the guide assembly 4 includes: at least one first slider 41, at least one first guide rail 43 corresponding to the first slider 41, at least one second slider 42 and at least one second guide rail 44 corresponding to the second slider 42; the first guide rail 43 and the second guide rail 44 are respectively detachably connected to the stacking frame 1; one end of the first slider 41 is detachably connected to the first connecting plate 21; the other end of the first slider 41 is slidably connected to the first guide rail 43; one end of the second slider 42 is detachably connected to the second connecting plate 22; the other end of the second slider 42 is slidably connected to the second guide rail 44.

[0044] In the third embodiment, Figure 1 As shown, the first slider 41 is arranged on the first connecting plate 21, and the second slider 42 is arranged on the second connecting plate 22. When the first connecting plate 21 and the second connecting plate 22 move, the first slider 41 moves along the first guide rail 43, and the second slider 42 moves along the second guide rail 44, thereby realizing the guiding effect on the first connecting plate 21 and the second connecting plate 22.

[0045] Further, the lifting assembly 3 includes: a first transmission member 31 for driving the first connecting plate 21 to lift, a second transmission member 32 for driving the second connecting plate 22 to lift, a transmission shaft 33 for driving the first transmission member 31 and the second transmission member 32, and a driving member 34 for driving the transmission shaft 33 to rotate; the driving member 34 is detachably connected to the stacking frame 1; the first transmission member 31 is detachably connected to the stacking frame 1; the output end 31 of the driving member is transmission-connected to the transmission shaft 33; the input end of the first transmission member 31 is transmission-connected to one end of the transmission shaft 33, and the output end of the first transmission member 31 is fixedly connected to the first connecting plate 21; the second transmission member 32 is detachably connected to the stacking frame 1; the input end of the second transmission member 32 is transmission-connected to the other end of the transmission shaft 33; the other end of the transmission shaft 33 is transmission-connected to the output end of the driving member 34; the output end of the second transmission member 32 is fixedly connected to the second connecting plate 22.

[0046] In the fourth embodiment, Figure 1-3 As shown, the transmission shaft 33 is driven to rotate by the driving member 34, and the two ends of the transmission shaft 33 are respectively connected to the first transmission member 31 and the second transmission member 32, so that the first transmission member 31 drives the first connecting plate 21 and the second transmission member 32 drives the second connecting plate 22 synchronously. Only one power source is required, the structure is simple, and the cost is low. It further increases the scene adaptability, reduces the working space, and is more in line with the working scene of the AGV vehicle.

[0047] Further, the first transmission member 31 includes: a first sprocket 310, a first chain 311, a second sprocket 312, a second chain 313, a first connecting seat 314 and a third sprocket 315; the first sprocket 310 and the second sprocket 312 are respectively arranged at the top of the stacking frame 1, and the first sprocket 310 and the second sprocket 312 are respectively detachably connected to the stacking frame 1; one end of the first sprocket 310 is transmission-connected to the transmission shaft 33; the first chain 311 is respectively wound around the other end of the first sprocket 310 and one end of the second sprocket 312; the third sprocket 315 is arranged at the bottom of the stacking frame 1, and the third sprocket 315 is detachably connected to the stacking frame 1; the second chain 313 is respectively wound around the other end of the second sprocket 312 and the third sprocket 315; the first connecting seat 314 is arranged on the second chain 313, and the first connecting seat 314 is detachably connected to the first connecting plate 21.

[0048] In the fifth embodiment, Figure 1 As shown, the driving member 34 drives the first sprocket 310 through the transmission shaft 33, and the first sprocket 310 further drives the first chain 311 to drive the second sprocket 312 to rotate, so that the second chain 313 wrapped around the second sprocket 312 rotates, and the second chain 313 is wrapped around the third sprocket 315 and the second sprocket 312, driving the first connecting seat 314 on the second chain 313 to move, so that the first connecting seat 314 drives the first connecting plate 21 to move up and down, thereby realizing the forking of the pallet 6.

[0049] Furthermore, the second transmission member 32 includes: a fourth sprocket 321, a third chain 322, a fifth sprocket 323, a fourth chain 324, a second connecting seat 325 and a sixth sprocket 326; the fourth sprocket 321 and the fifth sprocket 323 are respectively arranged on the top of the stacking frame 1, and the fourth sprocket 321 and the fifth sprocket 323 are respectively detachably connected to the stacking frame 1; one end of the fourth sprocket 321 is transmission-connected to the other end of the transmission shaft 33; the third chain 322 are respectively wound around the other end of the fourth sprocket 321 and one end of the fifth sprocket 323; the sixth sprocket 326 is arranged at the bottom of the stacking frame 1, and the sixth sprocket 326 is detachably connected to the stacking frame 1; the fourth chain 324 is respectively wound around the other end of the fifth sprocket 323 and the sixth sprocket 326; the second connecting seat 325 is arranged on the fourth chain 324; the second connecting seat 324 is detachably connected to the second connecting plate 32.

[0050] In Example 6, Figure 1As shown, the output end of the driving member 34 drives the third chain 322 on the fourth sprocket 321 to rotate through the transmission shaft 33, and the third chain 322 drives the fifth sprocket 323 to rotate, thereby causing the fourth chain 324 arranged around the fifth sprocket 323 to rotate, and the fourth chain 324 is arranged around the sixth sprocket 326 and the fifth sprocket 323, driving the second connecting seat 325 on the fourth chain 324 to move, so that the second connecting seat 325 drives the second connecting plate 22 to move up and down, thereby realizing the forking of the pallet 6.

[0051] Furthermore, the stacking frame 1 is also provided with a plurality of arranging members 5 for arranging and guiding the forked pallets 6; the plurality of arranging members 5 are detachably connected to the stacking frame 1 and are located in the pallet taking area 11.

[0052] In other embodiments, a plurality of aligning pieces 5 are provided on the stacking frame 1, and the plurality of aligning pieces 5 cooperate to further limit the up and down movement space of the pallet 6, so that the uneven pallets 6 can be aligned by abutting against the aligning pieces 5, thereby completing the aligning effect of the pallets 6 taken by the stacking machine.

[0053] A pallet stacking method based on the above-mentioned automatic pallet stacking machine comprises:

[0054] Step A: In the initial state, no pallet is forked in the stacking frame, and the fork arm assembly is at a high position on the stacking frame. At this time, the AGV trolley carries the pallet into the pallet picking area;

[0055] Step B: When the AGV trolley carries the pallet to the designated position, the lifting assembly drives the fork assembly to descend. When the fork assembly descends to the same height as the top of the pallet, the hook member on the first connecting plate and the hook member on the second connecting plate contact the top of the pallet and start to rotate, so that the hook member avoids the pallet.

[0056] Step C, when the fork assembly descends to the same height as the side hole of the pallet, the hook member on the first connecting plate and the hook member on the second connecting plate rebound and rotate into the side hole of the pallet, so that the pallet can be forked. At this time, the fork assembly is in the pallet taking position of the stacking frame;

[0057] Step D: When the hook member on the first connecting plate and the hook member on the second connecting plate fork the pallet, the lifting assembly drives the fork assembly to rise from the pallet taking position of the stacking frame to the high position of the stacking frame; during the rising process of the fork assembly, the hook member on the first connecting plate and the hook member on the second connecting plate fork the pallet and drive the pallet to rise, so that the pallet and the AGV trolley are separated to achieve the fork support effect;

[0058] Step E: When at least one pallet is forked on the stacking frame, when another pallet needs to be forked, the pallet that has been forked by the stacking frame will be placed on the pallet to be forked this time to achieve the stacking effect, and steps AD are repeated to achieve the forked pallet stacking effect.

[0059] In the specific implementation process, when taking the AGV car, if Figure 2 As shown, at this time, there is no pallet 6 to be forked on the stacking machine. When the AGV trolley with the pallet 6 enters the retrieval area 11 of the stacking machine, the driving member 34 is driven, so that the first transmission member 31 and the second transmission member 32 respectively drive the first connecting plate 21 and the second connecting plate 22 to descend. During the descent process, the hook members 23 on the first connecting plate 21 and the second connecting plate 22 will touch the pallet 6 and rotate to avoid the pallet 6 and avoid damage to the pallet 6. When the first connecting plate 21 and the second connecting plate 22 move to the gap between the pallet 6, the hook member 23 extends again so that the pallet 6 can be forked. At this time, the driving member 34 drives the first transmission member 31 and the second transmission member 32, thereby driving the first connecting plate 21 and the second connecting plate 22 to rise, thereby forking and driving the pallet 6 on the AGV trolley, so that the pallet 6 is separated from the AGV trolley, thereby completing the effect of forking the pallet 6.

[0060] like Figure 3 As shown, when a plurality of pallets 6 are forked from the stacking machine and another pallet 6 needs to be forked, the AGV with the pallets 6 enters the pallet picking area 11 of the stacking machine, and the driving member 34 is driven, so that the first transmission member 31 and the second transmission member 32 respectively drive the first connecting plate 21 and the second connecting plate 22 to descend, so that the pallets 6 forked from the stacking machine are stacked on the pallet 6 of the AGV, and continue to descend until it descends to the bottom pallet 6. During the descent, the hook members 23 on the first connecting plate 21 and the second connecting plate 22 touch the pallet 6 at the bottom. When the first connecting plate 21 and the second connecting plate 22 move to the gap of the bottom pallet 6, the hook member 23 extends again so that the bottom pallet 6 can be forked. At this time, the driving member 34 drives the first transmission member 31 and the second transmission member 32, thereby driving the first connecting plate 21 and the second connecting plate 22 to rise, thereby forking and driving the pallet 6 on the AGV trolley, so that multiple pallets 6 are separated from the AGV trolley, thereby completing the effect of forking multiple pallets 6.

[0061] A method for removing trays based on the above-mentioned automatic tray stacking machine comprises:

[0062] Step A: A number of stacked pallets have been forked on the stacking frame, and an empty AGV enters the pallet picking area. The lifting component drives the forking component to drive the stacked pallets to descend from the high top of the stacking frame to the low bottom of the stacking frame;

[0063] Step B: During the descent of the forklift assembly, the bottom pallet among the stacked pallets will first contact the AGV trolley, and at this time, the stacked pallets have been placed on the AGV trolley;

[0064] Step C: After the stacked pallets are placed on the AGV, the fork assembly continues to descend, and the hook member on the first connecting plate and the hook member on the second connecting plate contact the lower edge of the pallet and rotate to make the hook member avoid the pallet; when the fork assembly descends to completely below the bottom of the pallet, the fork assembly is separated from the stacked pallets;

[0065] Step D: The AGV drives the stacked pallets to leave the unloading area of ​​the pallet stacking frame, completing the unloading step.

[0066] During the specific implementation process, when it is necessary to take out the pallet 6 of the stacking machine, the empty AGV trolley enters the pallet taking area 11 of the stacking machine, and the driving member 34 is driven, so that the first transmission member 31 and the second transmission member 32 respectively drive the first connecting plate 21 and the second connecting plate 22 to descend, thereby stacking the pallet 6 forked from the stacking machine on the pallet 6 of the AGV trolley, and continue to descend until the fork-picking assembly 2 descends below the lower edge of the pallet 6. At this time, the AGV trolley moves, and the pallet 6 will not collide with the hook member 23; during the descent, the hook members 23 on the first connecting plate 21 and the second connecting plate 22 will touch the pallet 6 and rotate to avoid the pallet 6 and avoid damaging the pallet 6, so that the hook member 23 and the forked pallet 6 are separated, so that the pallet 6 on the stacking machine is transferred to the AGV trolley, completing the process of unloading and transporting the pallet.

[0067] The automatic stacking machine, stacking method and tray removal method of the present invention do not require manual intervention in the automated tray 6 stacking process of the stacking machine, simplify the steps of tray removal and stacking, and significantly improve the work efficiency. By accurately controlling the forking and moving operations, multiple trays 6 can be stacked in a short time, which increases the stacking work efficiency and scene adaptability.

[0068] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An automatic stacking machine, characterized in that: It includes a stacking frame and a fork-taking assembly for forking the pallet on the AGV trolley; the stacking frame is provided with a pallet-taking area for the AGV trolley to dock; The stacking frame is provided with: a lifting assembly for lifting the fork assembly and a guiding assembly for guiding the fork assembly; The lifting assembly is detachably connected to the stacking frame; the fork-taking assembly is fixedly connected to the output end of the lifting assembly and is located in the stacking area; The guide assembly is detachably connected to the stacking frame; the guide end of the guide assembly is detachably connected to the fork assembly.

2. The automatic tray stacking machine according to claim 1, characterized in that: The fork-picking assembly comprises: a first connecting plate and a second connecting plate; the first connecting plate and the second connecting plate are respectively provided with a plurality of hooks for forking the pallet; The first connecting plate and the second connecting plate are respectively fixedly connected to the output end of the lifting assembly; the first connecting plate and the second connecting plate are respectively detachably connected to the guide end of the guide assembly.

3. The automatic tray stacking machine according to claim 2, characterized in that: The hook member comprises: a mounting seat, a fork rod and a spring member for keeping the fork rod horizontal; The mounting seat is detachably connected to the corresponding first connecting plate or second connecting plate; the fork rod is rotatably connected to the mounting seat; the spring member is detachably connected to the mounting seat and abuts against the fork rod.

4. The automatic tray stacking machine according to claim 2, characterized in that: The guide assembly comprises: at least one first slider, at least one first guide rail corresponding to the first slider, at least one second slider and at least one second guide rail corresponding to the second slider; The first guide rail and the second guide rail are respectively detachably connected to the stacking frame; One end of the first sliding block is detachably connected to the first connecting plate; the other end of the first sliding block is slidably connected to the first guide rail; One end of the second sliding block is detachably connected to the second connecting plate; the other end of the second sliding block is slidably connected to the second guide rail.

5. The automatic stacking machine for AGV according to claim 2, characterized in that: The lifting assembly includes: a first transmission member for driving the first connecting plate to lift, a second transmission member for driving the second connecting plate to lift, a transmission shaft for driving the first transmission member and the second transmission member, and a driving member for driving the transmission shaft to rotate; The driving member is detachably connected to the stacking frame; the output end of the driving member is drivingly connected to the transmission shaft; The first transmission member is detachably connected to the stacking frame; the input end of the first transmission member is transmission-connected to one end of the transmission shaft, and the output end of the first transmission member is fixedly connected to the first connecting plate; The second transmission member is detachably connected to the stacking frame; the input end of the second transmission member is transmission-connected to the other end of the transmission shaft; and the output end of the second transmission member is fixedly connected to the second connecting plate.

6. The automatic stacking machine for AGV according to claim 5, characterized in that: The first transmission member includes: a first sprocket, a first chain, a second sprocket, a second chain, a first connecting seat and a third sprocket; The first sprocket and the second sprocket are respectively arranged on the top of the stacking frame, and the first sprocket and the second sprocket are respectively detachably connected to the stacking frame; one end of the first sprocket is transmission-connected to the transmission shaft; the first chain is respectively wound around the other end of the first sprocket and one end of the second sprocket; the third sprocket is arranged on the bottom of the stacking frame, and the third sprocket is detachably connected to the stacking frame; The second chain is respectively wound around the other end of the second sprocket and the third sprocket; the first connecting seat is arranged on the second chain, and the first connecting seat is detachably connected to the first connecting plate.

7. The automatic stacking machine for AGV according to claim 5, characterized in that: The second transmission member includes: a fourth sprocket, a third chain, a fifth sprocket, a fourth chain, a second connecting seat and a sixth sprocket; The fourth sprocket and the fifth sprocket are respectively arranged on the top of the stacking frame, and the fourth sprocket and the fifth sprocket are respectively detachably connected to the stacking frame; one end of the fourth sprocket is transmission-connected to the other end of the transmission shaft; The third chain is respectively wound around the other end of the fourth sprocket and one end of the fifth sprocket; the sixth sprocket is arranged at the bottom of the stacking frame, and the sixth sprocket is detachably connected to the stacking frame; the fourth chain is respectively wound around the other end of the fifth sprocket and the sixth sprocket; The second connecting seat is arranged on the fourth chain; the second connecting seat is detachably connected to the second connecting plate.

8. The automatic tray stacking machine according to claim 1, characterized in that: The stacking frame is also provided with a plurality of arranging parts for arranging and guiding the forked pallets; the plurality of arranging parts are detachably connected to the stacking frame and are located in the pallet taking area.

9. A method for stacking trays using an automatic stacking machine according to any one of claims 1 to 8, characterized in that: include: Step A: In the initial state, no pallet is forked in the stacking frame, and the fork arm assembly is at a high position on the stacking frame. At this time, the AGV trolley carries the pallet into the pallet picking area; Step B: When the AGV trolley carries the pallet to the designated position, the lifting assembly drives the fork assembly to descend. When the fork assembly descends to the same height as the top of the pallet, the hook member on the first connecting plate and the hook member on the second connecting plate contact the top of the pallet and start to rotate, so that the hook member avoids the pallet. Step C, when the fork assembly descends to the same height as the side hole of the pallet, the hook member on the first connecting plate and the hook member on the second connecting plate rebound and rotate into the side hole of the pallet, so that the pallet can be forked. At this time, the fork assembly is in the pallet taking position of the stacking frame; Step D: When the hook member on the first connecting plate and the hook member on the second connecting plate fork the pallet, the lifting assembly drives the fork assembly to rise from the pallet taking position of the stacking frame to the high position of the stacking frame; during the rising process of the fork assembly, the hook member on the first connecting plate and the hook member on the second connecting plate fork the pallet and drive the pallet to rise, so that the pallet and the AGV trolley are separated to achieve the fork support effect; Step E: When at least one pallet is forked on the stacking frame, when another pallet needs to be forked, the pallet that has been forked by the stacking frame will be placed on the pallet to be forked this time to achieve the stacking effect, and steps AD are repeated to achieve the forked pallet stacking effect.

10. A tray-removing method for an automatic tray stacking machine according to any one of claims 1 to 8, characterized in that: include: Step A: A number of stacked pallets have been forked on the stacking frame, and an empty AGV enters the pallet picking area. The lifting component drives the forking component to drive the stacked pallets to descend from the high top of the stacking frame to the low bottom of the stacking frame; Step B: During the descent of the forklift assembly, the bottom pallet among the stacked pallets will first contact the AGV trolley, and at this time, the stacked pallets have been placed on the AGV trolley; Step C: After the stacked pallets are placed on the AGV, the fork assembly continues to descend, and the hook member on the first connecting plate and the hook member on the second connecting plate contact the lower edge of the pallet and rotate to make the hook member avoid the pallet; when the fork assembly descends to completely below the bottom of the pallet, the fork assembly is separated from the stacked pallets; Step D: The AGV drives the stacked pallets to leave the unloading area of ​​the pallet stacking frame, completing the unloading step.

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