Conveying device, stacking and unstacking system, logistics conveying system and stacking and unstacking method

Abstract

The invention relates to the technical field of logistics devices, in particular to a conveying device, a stacking and unstacking system, a logistics conveying system and a stacking and unstacking method. A plurality of target stations are sequentially arranged along a closed-loop conveying path; at least one operation station is arranged between every two adjacent target stations along the conveying path; the conveying device comprises a plurality of conveying mechanisms; the conveying mechanism comprises a head section, a connection section and a tail section which are connected in sequence, the head section and the tail section are located on two adjacent target stations respectively, and at least part of the connection section is located on the corresponding operation station; the multiple conveying mechanisms are connected end to end in a matched mode along the conveying path, the head section of one of every two matched conveying mechanisms and the tail section of the other conveying mechanism are connected in a matched mode and located on the same target station, and the stack located on the target station can be selectively conveyed in the target direction; according to the stacking and unstacking device, multi-position feeding and discharging and multi-direction conveying of stacks are achieved, stacking and unstacking operation is more flexible, and meanwhile the occupied area is reduced.

Description

Technical Field

[0001] This application relates to the technical field of logistics devices, and particularly to conveying devices, palletizing and depalletizing systems, logistics conveying systems, and palletizing and depalletizing methods. Background Art

[0002] In production operations, in order to meet the needs of packing, sorting, arranging, or packaging goods, palletizing and depalletizing operations need to be performed on the goods. However, in the case where the goods need to be divided into multiple different stack types, it is difficult to improve the operation efficiency. Summary of the Invention

[0003] Based on this, it is necessary to provide a conveying device, a palletizing and depalletizing system, a logistics conveying system, and a palletizing and depalletizing method to improve the operation efficiency.

[0004] According to one aspect of this application, an embodiment of this application provides a conveying device. The conveying device is provided with a plurality of target workstations and a plurality of operation workstations. The plurality of target workstations are arranged in sequence along a closed-loop conveying path; along the conveying path, at least one of the operation workstations is arranged between two adjacent target workstations; the conveying device includes a plurality of conveying mechanisms for transferring stack bodies; each conveying mechanism includes a head section, a tail section, and a connecting section connecting between the head section and the tail section. The head section and the tail section are respectively located at two adjacent target workstations, and at least a part of the connecting section is located at the corresponding operation workstation; the target workstation is used to perform loading and unloading of stack bodies, and the operation workstation is used to perform palletizing and depalletizing operations; the plurality of conveying mechanisms are connected end to end along the conveying path; the head section of one of the two mating conveying mechanisms is mated with the tail section of the other and is located at the same target workstation, so that the stack body located at the target workstation can be selectively conveyed in a target direction; the target direction is determined by the two mating conveying mechanisms.

[0005] In one embodiment, the two mating conveying mechanisms have a first mating state and a second mating state; in the first mating state, the conveying surfaces of the head section of one of the two mating conveying mechanisms and the tail section of the other are overlapped with each other; in the second mating state, the conveying surfaces of the head section of one of the two mating conveying mechanisms and the tail section of the other are separated from each other.

[0006] In one embodiment, among the two mating conveying mechanisms, at least one of the head section of one of them and the tail section of the other one is configured to be able to lift in a first direction, so that the two mating conveying mechanisms can switch between the first mating state and the second mating state; the conveying surfaces of the head section of one of the two mating conveying mechanisms and the tail section of the other one are both planes perpendicular to the first direction.

[0007] In one embodiment, the head section of one of the two mating conveying mechanisms is configured as a chain conveyor or a belt conveyor, and the tail section of the other one is configured as a roller conveyor.

[0008] In one embodiment, at least one of the plurality of conveying mechanisms is a target conveying mechanism; wherein, in the same target conveying mechanism, there are two adjacent ones among the head section, the connecting section and the tail section that can be detachably mated; or in the same target conveying mechanism, the head section, the connecting section and the tail section are connected in sequence.

[0009] In one embodiment, the conveying mechanism has a first conveying mode; in the first conveying mode, the head section is used for feeding the stack body, the tail section is used for discharging the stack body, and the connecting section can convey the stack body along the direction from the head section to the tail section; and / or, the conveying mechanism has a second conveying mode; in the second conveying mode, the head section is used for discharging the stack body, the tail section is used for feeding the stack body, and the connecting section can convey the stack body along the direction from the tail section to the head section.

[0010] In one embodiment, the conveying direction of the head section of one of the two mating conveying mechanisms is set at an angle with the conveying direction of the tail section of the other one.

[0011] In one embodiment, the conveying direction of the head section of one of the two mating conveying mechanisms is perpendicular to the conveying direction of the tail section of the other one.

[0012] In one embodiment, there are four conveying mechanisms; and / or, along the conveying path, one operating station is arranged between two adjacent target workstations; and / or, the conveying direction of the conveying mechanism is a straight line direction.

[0013] According to another aspect of the present application, an embodiment of the present application further provides a code unstacking system, including: the conveying device and the transfer device as described above, which are arranged in the conveying path; the transfer device is configured to transfer the target sub-stack of the to-be-unstacked body on the connection section at the first target operation station to the connection section at the second target operation station; wherein, at least one of all the operation stations is the first target operation station, the operation stations other than the first target operation station among all the operation stations are other operation stations, and at least one of the other operation stations is the second target operation station.

[0014] In one embodiment, the conveying mechanism corresponding to the first target operation station and the conveying mechanism corresponding to the second target operation station are different conveying mechanisms.

[0015] In one embodiment, the connection section at the second target operation station has a loading state for carrying the to-be-piled body and an empty state without carrying the to-be-piled body.

[0016] In one embodiment, the transfer device includes: a base and a transfer assembly. The base is arranged in the conveying path; the transfer assembly is rotatably arranged on the base around a first axis; the transfer assembly is used for transferring the target sub-stack; wherein, the conveying path has a second axis, and the first axis and the second axis coincide with each other or are parallel to each other.

[0017] In one embodiment, the transfer assembly includes: a seat body and two clamping members; the seat body is rotatably arranged on the base around the first axis; the two clamping members are movably arranged on the seat body; the two clamping members are configured to be able to move relatively in a second direction to clamp or release the target sub-stack; wherein, the second direction is perpendicular to the extension direction of the first axis and the extension direction of the second axis respectively.

[0018] In one embodiment, the transfer assembly further includes an adsorbing member arranged on the seat body; the adsorbing member is used to provide an adsorption force for adsorbing the target sub-stack in a third direction; wherein, the third direction is perpendicular to the second direction.

[0019] In one embodiment, the transfer assembly further includes a lifting driving member; the seat body is connected to the adsorbing member through the lifting driving member; the lifting driving member is used to drive the adsorbing member to move in the third direction; wherein, the third direction is perpendicular to the second direction.

[0020] According to still another aspect of the present application, an embodiment of the present application further provides a logistics conveying system, including the conveying device as described above; or including the code unstacking system as described above.

[0021] According to still another aspect of the present application, an embodiment of the present application further provides a method for palletizing and depalletizing codes, including:

[0022] Obtaining depalletizing parameter data of a to-be-depalletized body located at a first target operation station;

[0023] Based on the depalletizing parameter data, transferring a target sub-pallet of the to-be-depalletized body to a second target operation station;

[0024] Wherein, at least one of the first target operation station and the second target operation station is provided, and the first target operation station and the second target operation station are arranged along a closed-loop conveying path.

[0025] In one embodiment, before obtaining the depalletizing parameter data of the to-be-depalletized body located at the first target operation station, it includes:

[0026] Conveying the to-be-depalletized body located at the target station to the corresponding first target operation station;

[0027] Wherein, a plurality of target stations are provided, and the plurality of target stations are arranged in sequence along a closed-loop conveying path; along the conveying path, at least one operation station is arranged between two adjacent target stations;

[0028] At least one operation station among all the operation stations is the first target operation station, and the operation stations other than the first target operation station among all the operation stations are other operation stations, and at least one operation station among the other operation stations is the second target operation station.

[0029] In one embodiment, after transferring the target sub-pallet of the to-be-depalletized body to the second target operation station based on the depalletizing parameter data, it includes:

[0030] After the palletizing operation on the second target operation station is completed, transferring the current pallet on the second target operation station to the corresponding target station for discharging the pallet.

[0031] In one embodiment, the transfer path of the target sub-pallet is configured as a closed-loop path, and the transfer path of the target sub-pallet is adapted to the conveying path;

[0032] Wherein, both the first target operation station and the second target operation station are located on the transfer path of the target sub-pallet.

[0033] According to still another aspect of the present application, an embodiment of the present application further provides a method for palletizing and depalletizing codes, including:

[0034] Obtain the palletizing parameter data located at the second target operation station;

[0035] Based on the palletizing parameter data, transfer the target sub-stack of the stack to be depalletized located at the first target operation station to the second target operation station;

[0036] Wherein, at least one of the first target operation station and the second target operation station is provided, and the first target operation station and the second target operation station are arranged along a closed-loop conveying path.

[0037] In one embodiment, before obtaining the palletizing parameter data located at the second target operation station, it includes:

[0038] Convey the stack to be palletized located at the target station to the corresponding second target operation station;

[0039] Wherein, a plurality of the target stations are provided, and the plurality of target stations are arranged in sequence along a closed-loop conveying path; along the conveying path, at least one of the operation stations is arranged between two adjacent target stations;

[0040] At least one of all the operation stations is the first target operation station, the operation stations other than the first target operation station among all the operation stations are other operation stations, and at least one of the other operation stations is the second target operation station.

[0041] In one embodiment, after transferring the target sub-stack of the stack to be depalletized located at the first target operation station to the second target operation station based on the palletizing parameter data, it includes:

[0042] After the palletizing operation on the second target operation station is completed, transfer the current stack on the second target operation station to the corresponding target station for unstacking.

[0043] In one embodiment, the transfer path of the target sub-stack is configured as a closed-loop path, and the transfer path of the target sub-stack is adapted to the conveying path;

[0044] Wherein, both the first target operation station and the second target operation station are located on the transfer path of the target sub-stack.

[0045] The above-mentioned conveying device, palletizing and depalletizing system, logistics conveying system and palletizing and depalletizing method can realize loading, unloading and palletizing and depalletizing operations at multiple positions on the closed-loop path by setting a closed-loop conveying path and arranging multiple target workstations and operating workstations on the closed-loop path. Furthermore, flexible selection can be made according to the actual layout space, the layout positions of the loading equipment, unloading equipment and palletizing and depalletizing equipment. At the same time, the target direction of pallet conveying is determined by the combination of the conveying directions of two adjacent conveying mechanisms. That is, on the conveying path, the conveying directions of pallets at different positions can be the same or different. Furthermore, multi-position loading and unloading of pallets and multi-directional conveying are realized, improving the flexibility of pallet conveying, which is more conducive to palletizing and depalletizing operations on pallets, making the palletizing and depalletizing operations more flexible and improving the operation efficiency. In addition, since the conveying device in the embodiment of the present application is generally in a closed-loop shape, the floor area is reduced, and it can be selectively conveyed along a certain direction according to requirements on the conveying path, improving the diversity of the conveying direction, realizing multi-position loading and unloading of pallets and multi-directional conveying while reducing the floor area of the conveying device.

[0046] Additional aspects and advantages of the embodiments of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] By reading the following detailed description of the embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the embodiments and are not considered to be a limitation of the present application. And in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0048] Figure 1 FIG. 1 is a top view structural schematic diagram of a conveying device provided by an embodiment of the present application.

[0049] Figure 2 FIG. 2 is a top view structural schematic diagram of a conveying device provided by an embodiment of the present application.

[0050] Figure 3 FIG. 3 is an exploded structural schematic diagram of a conveying device provided by an embodiment of the present application.

[0051] Figure 4 FIG. 4 is a structural schematic diagram of two mating conveying mechanisms provided by an embodiment of the present application.

[0052] Figure 5 FIG. 5 is a structural schematic diagram of two mating conveying mechanisms provided by an embodiment of the present application.

[0053] Figure 6It is the third structural schematic diagram of two mating conveying mechanisms provided by an embodiment of the present application.

[0054] Figure 7 It is the structural schematic diagram of a chain conveyor provided by an embodiment of the present application.

[0055] Figure 8 It is the structural schematic diagram of a roller conveyor provided by an embodiment of the present application.

[0056] Figure 9 It is the exploded structural schematic diagram of the first target conveying mechanism provided by an embodiment of the present application.

[0057] Figure 10 It is the exploded structural schematic diagram of the second target conveying mechanism provided by an embodiment of the present application.

[0058] Figure 11 It is the exploded structural schematic diagram of the third target conveying mechanism provided by an embodiment of the present application.

[0059] Figure 12 It is the top view structural schematic diagram of a palletizing and depalletizing system provided by an embodiment of the present application.

[0060] Figure 13 It is the side view structural schematic diagram of a palletizing and depalletizing system provided by an embodiment of the present application.

[0061] Figure 14 It is the first structural schematic diagram of a transfer assembly provided by an embodiment of the present application.

[0062] Figure 15 It is the second structural schematic diagram of a transfer assembly provided by an embodiment of the present application.

[0063] Figure 16 It is the first flow schematic diagram of a palletizing and depalletizing method provided by an embodiment of the present application.

[0064] Figure 17 It is the second flow schematic diagram of a palletizing and depalletizing method provided by an embodiment of the present application.

[0065] The reference numerals in the specific embodiments are as follows:

[0066] 100, palletizing and depalletizing system;

[0067] 110, conveying device; 111, conveying mechanism; 111a, first section; 111b, last section; 111c, connecting section; 1111, chain conveyor; 1111a, conveyor chain; 1112, roller conveyor; 1112a, roller; 111d, conveying unit; 112, first target conveying mechanism; 113, second target conveying mechanism; 114, third target conveying mechanism;

[0068] 120. Transfer device; 121. Base; 122. Transfer assembly; 122a. Seat body; 122b. Clamping member; 122c. Suction member; 122d. Lifting drive member;

[0069] 200. Stack to be disassembled; 210. Target sub-stack;

[0070] 300. Stack to be palletized;

[0071] A. Target station;

[0072] B. Operation station;

[0073] C. Conveyor surface;

[0074] P. Conveyor path;

[0075] F1. First direction;

[0076] F2. Second direction;

[0077] F3. Third direction;

[0078] L1. First axis;

[0079] L2. Second axis;

[0080] H1. First avoidance gap;

[0081] H2. Second avoidance gap. Detailed implementation manner

[0082] To make the above objects, features, and advantages of the present application more apparent and understandable, the following describes the detailed implementation manner of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0083] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 construed as a limitation to the present application.

[0084] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0085] In this application, unless otherwise clearly specified and limited, if terms such as "installed", "connected", "joined", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0086] In this application, unless otherwise clearly specified and limited, if there is a description such as a first feature being "on" or "under" a second feature, the meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0087] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0088] Refer to Figures 1 to 3 , Figure 1 shows one of the top - view structural schematic diagrams of the conveying device in an embodiment of this application, Figure 2 shows another top - view structural schematic diagram of the conveying device in an embodiment of this application, Figure 3The exploded structural schematic diagram of the conveying device in an embodiment of the present application is shown. The conveying device 110 provided in an embodiment of the present application is provided with a plurality of target stations A and a plurality of operation stations B. The plurality of target stations A are arranged in sequence along the closed-loop conveying path P; along the conveying path P, at least one operation station B is arranged between two adjacent target stations A.

[0089] Among them, it should be noted that the target station A refers to the station for pallet loading or pallet unloading, and the operation station B refers to the station for palletizing or depalletizing the pallet.

[0090] The conveying device 110 includes a plurality of conveying mechanisms 111, and the conveying mechanisms 111 are used for transferring the pallet. The conveying mechanism 111 includes a head section 111a, a tail section 111b, and a connecting section 111c connected between the head section 111a and the tail section 111b. The head section 111a and the tail section 111b are respectively located at two adjacent target stations A, and at least a part of the connecting section 111c is located at the corresponding operation station B. The target station A is used to perform the operations of loading and unloading the pallet, and the operation station B is used to perform the operations of palletizing and depalletizing. It can be understood that after the pallet is loaded onto the target station A, the target station A can be equivalent to the buffer station of the pallet. Under the conveying of the connecting section 111c, the pallet at the target station A is conveyed to the operation station B for corresponding palletizing or depalletizing. After the palletizing or depalletizing is completed, under the conveying of the connecting section 111c, the pallet returns to the target station A for unloading.

[0091] The plurality of conveying mechanisms 111 are connected end to end along the conveying path P to form a closed-loop conveying path P. The head section 111a of one of the two connected conveying mechanisms 111 is connected to the tail section 111b of the other and is located at the same target station A, so that the pallet located at the target station A can be selectively conveyed along the target direction, and the target direction is determined by the two connected conveying mechanisms 111.

[0092] Among them, it should be noted that the target direction is determined by the two connected conveying mechanisms 111, which means that the target direction is the combination of the conveying directions corresponding to the two connected conveying mechanisms 111. One of the conveying mechanisms 111 can convey from the head section 111a to the tail section 111b or from the tail section 111b to the head section 111a. Similarly, the other conveying mechanism 111 can convey from the head section 111a to the tail section 111b or from the tail section 111b to the head section 111a, as long as the pallet can be conveyed to the corresponding operation station B for palletizing and depalletizing operations as required, and the pallet after the palletizing and depalletizing operations is conveyed to the corresponding target station A for unloading.

[0093] The conveying device 110 shown in this embodiment can perform loading, unloading, and palletizing / depalletizing operations at multiple positions on the closed-loop conveying path P by setting up a closed-loop conveying path P and arranging a plurality of target workstations A and operating workstations B on the closed-loop path P. Furthermore, it can be flexibly selected according to the actual layout space, the layout positions of the loading equipment, unloading equipment, and palletizing / depalletizing equipment. At the same time, the target direction of pallet conveying is determined by the combination of the conveying directions of two adjacent conveying mechanisms 111. That is, on the conveying path P, the conveying directions of pallets at different positions can be the same or different. For example, the pallet on one conveying mechanism 111 is conveyed counterclockwise along the conveying path P, and the pallet on another conveying mechanism 111 is conveyed clockwise along the conveying path P. Thus, multi-position loading and unloading of pallets and multi-directional conveying are achieved, improving the flexibility of pallet conveying, which is more conducive to palletizing / depalletizing operations, making the palletizing / depalletizing operation more flexible and enhancing the operation efficiency. In addition, compared with the conveying line arranged in a straight line and conveying in a single direction in the related art, since the conveying device 110 of the embodiment of the present application is generally in a closed-loop shape, the floor area is reduced, and it can be selectively conveyed in a certain direction according to requirements on the conveying path P, improving the diversity of the conveying direction, achieving multi-position loading and unloading and multi-directional conveying of pallets while reducing the floor area of the conveying device 110.

[0094] Among them, in Figure 1 the target workstation A is indicated by a dashed box, the operating workstation B is indicated by a dotted line box, and the conveying path P is indicated by a double-dotted line box.

[0095] Combined with Figures 4 to 6 shown, Figure 4 FIG. 1 shows one of the structural diagrams of two mating conveying mechanisms in an embodiment of the present application. Figure 5 FIG. 2 shows another structural diagram of two mating conveying mechanisms in an embodiment of the present application. Figure 6 FIG. 3 shows a third structural diagram of two mating conveying mechanisms in an embodiment of the present application; in some embodiments, the two mating conveying mechanisms 111 shown in this embodiment have a first mating state and a second mating state; in the first mating state, the conveying surface C of the head section 111a of one of the two mating conveying mechanisms 111 coincides with the conveying surface C of the tail section 111b of the other; in the second mating state, the conveying surface C of the head section 111a of one of the two mating conveying mechanisms 111 is separated from the conveying surface C of the tail section 111b of the other.

[0096] Specifically, in the first mating state, the conveying surfaces C coincide with each other at this time. The conveying surfaces C are used to carry the stack body, and the coincident part serves as the transfer part of the stack body. The stack body on one of the conveying mechanisms 111 can be transferred to the other conveying mechanism 111 through this transfer part, so as to meet the requirement of being able to convey the stack body to each target station A and each operation station B; while in the second mating state, the conveying surfaces C are separated from each other at this time, and the stack body cannot be transferred between the two conveying mechanisms 111. The function at this time is to load the stack body onto the corresponding conveying mechanism 111 from the separated part, or unload the stack body from the separated part, so as to achieve the above-mentioned effect of being able to perform loading or unloading operations at multiple positions, and improve the flexibility of loading and unloading.

[0097] Combined with Figure 4 As shown, in some embodiments, among the two mating conveying mechanisms 111 shown in this embodiment, at least one of the head section 111a of one of them and the tail section 111b of the other is configured to be able to lift along the first direction F1, so that the two mating conveying mechanisms 111 can be switched between the first mating state and the second mating state; the conveying surface C of the head section 111a of one of the two mating conveying mechanisms 111 and the conveying surface C of the tail section 111b of the other are both planes perpendicular to the first direction F1, and the first direction is Figure 4 the direction from top to bottom or from bottom to top in

[0098] Specifically, by means of lifting, the conveying surfaces C of the two conveying mechanisms 111 are located at the same height or form a height difference. In the case of being at the same height, it is the first mating state, and in the case of forming a height difference, it is the second mating state.

[0099] Among them, as Figure 7 and Figure 8 shown, Figure 7 shows a schematic structural diagram of a chain conveyor in an embodiment of the present application. Figure 8The structural schematic diagram of a roller conveyor in an embodiment of the present application is shown; since the head section 111a of one of the two mating conveying mechanisms 111 intersects with the tail section 111b of the other, in order to avoid interference during the lifting process, the specific implementation method for switching the mating state through the lifting method is that the head section 111a of one conveying mechanism 111 is provided with a first avoidance gap H1, and the tail section 111b of the other conveying mechanism 111 is provided with a second avoidance gap H2. The first avoidance gap H1 is used to avoid the tail section 111b of the other conveying mechanism 111, and the second avoidance gap H2 is used to avoid the head section 111a of one conveying mechanism 111. Then, during the lifting process, the head section 111a of one conveying mechanism 111 can move up and down within the second gap H2, and the tail section 111b of the other conveying mechanism 111 can move up and down within the first gap H1, so as to achieve the coincidence or separation of the conveying surfaces under the condition of avoidance.

[0100] It should be noted that the sizes of the first avoidance gap H1 and the second avoidance gap H2 are relatively small with respect to the size of the stack body, so as to reduce the phenomenon that the stack body is stuck in the first avoidance gap H1 or the second avoidance gap H2 during the conveying process.

[0101] Combined with Figures 5 to 8 As shown, in some embodiments, the head section 111a of one of the two mating conveying mechanisms 111 shown in this embodiment is configured as a chain conveyor 1111 or a belt conveyor, and the tail section 111b of the other is configured as a roller conveyor 1112.

[0102] Among them, a plurality of conveying chains 1111a are arranged at intervals along the conveying direction perpendicular to the chain conveyor 1111, and a first avoidance gap H1 is formed between adjacent two conveying chains 1111a; a plurality of rollers 1112a are arranged at intervals along the conveying direction of the roller conveyor 1112, and a second avoidance gap H2 is formed between adjacent two rollers 1112a. The first avoidance gap H1 can be used to avoid a plurality of rollers 1112a, and the second avoidance gap H2 can avoid one conveying chain 1111a; the structure of the belt conveyor is similar to that of the chain conveyor, and a plurality of conveyor belts are arranged at intervals along the conveying direction perpendicular to the belt conveyor, and a first avoidance gap H1 is formed between adjacent two conveyor belts.

[0103] Combined with Figures 9 to 11As shown, in some embodiments, at least one of the plurality of conveying mechanisms 111 in this embodiment is a target conveying mechanism; among them, in the same target conveying mechanism, two adjacent ones of the head section 111a, the connecting section 111c, and the tail section 111b can be detachably mated; or, in the same target conveying mechanism, the head section 111a, the connecting section 111c, and the tail section 111b are connected in sequence, that is, the head section 111a, the tail section 111b, and the connecting section 111c in the conveying mechanism 111 can be configured into a split structure or an integral structure according to actual needs, so that the conveying mechanism 111 has a more flexible conveying method and is also convenient for the assembly or disassembly of the conveying mechanism 111. The split structure and the integral structure will be described below.

[0104] Combined with Figure 9 As shown, in some embodiments, in the same target conveying mechanism, the head section 111a, the connecting section 111c, and the tail section 111b are connected in sequence, that is, the head section 111a, the connecting section 111c, and the tail section 111b form an integral structure. At this time, define this target conveying mechanism as the first target conveying mechanism 112, and the head section 111a, the connecting section 111c, and the tail section 111b of the first target conveying mechanism 112 are configured as a conveying unit 111d.

[0105] Combined with Figure 10 As shown, in some embodiments, in the same target conveying mechanism, the head section 111a and the connecting section 111c are connected, and the connecting section 111c and the tail section 111b are detachably mated, or the head section 111a and the connecting section 111c are detachably mated, and the connecting section 111c and the tail section 111b are connected, that is, two adjacent ones of the head section 111a, the connecting section 111c, and the tail section 111b are a partial integral structure, and the other one of the three and the partial integral structure form a split structure of two parts as a whole. At this time, define each part of the split structure of two parts as a conveying unit 111d, and the target conveying mechanism with a split structure of two parts is the second target conveying mechanism 113.

[0106] Combined with Figure 11 As shown, in some embodiments, in the same target conveying mechanism, two adjacent ones of the head section 111a, the connecting section 111c, and the tail section 111b are all detachably mated, that is, the head section 111a, the connecting section 111c, and the tail section 111b form a split structure of three parts. At this time, define each part of the split structure of three parts as a conveying unit 111d, and the target conveying mechanism with a split structure of three parts is the third target conveying mechanism 114.

[0107] Among them, compared with the integrated structure, the two-part split structure and the three-part split structure have better flexibility. In the split structure, the conveying states of each part can be independent of each other, and thus can be further adapted to different conveying methods. In addition, the split structure has good disassembly and assembly performance and is also convenient for handling. Therefore, according to the actual layout space or disassembly and assembly requirements, the integrated structure, the two-part split structure or the three-part split structure can be correspondingly selected. At the same time, when the two mating conveying mechanisms 111 switch between the first mating state and the second mating state, the split structure formed by the second target conveying mechanism 113 and the third target conveying mechanism 114 can be realized by the lifting of a single conveying unit 111d, that is, equivalent to the lifting of a part of the structure of the conveying mechanism 111. Compared with the overall lifting of the integrated structure, the longitudinal occupied space is reduced.

[0108] In some embodiments, the conveying mechanism 111 shown in this embodiment has a first conveying mode. In the first conveying mode, the head section 111a is used for loading the stack body, the tail section 111b is used for unloading the stack body, and the connecting section 111c can convey the stack body along the direction from the head section 111a to the tail section 111b; and / or, the conveying mechanism 111 has a second conveying mode. In the second conveying mode, the head section 111a is used for unloading the stack body, the tail section 111b is used for loading the stack body, and the connecting section 111c can convey the stack body along the direction from the tail section 111b to the head section 111a.

[0109] Specifically, the target station A can be used for both loading and unloading. According to the actual layout positions of the loading equipment and the unloading equipment, the first conveying mode or the second conveying mode can be adaptively executed, so as to better cooperate with the loading operation of the loading equipment and the unloading operation of the unloading equipment, and improve the flexibility of the layout of the loading position and the unloading position. At the same time, for the entire conveying device 110, different conveying mechanisms 111 can execute different conveying modes. For example, along the conveying path P, one conveying mechanism 111 can convey in the clockwise direction, and another conveying mechanism 111 can convey in the counterclockwise direction, as long as the stack bodies on the two mating conveying mechanisms 111 do not collide during the conveying process. By each conveying mechanism 111 executing different conveying modes, the entire conveying device 110 can form a coordinated conveying method, so as to efficiently complete the conveying of the stack body.

[0110] Combined Figure 1 and Figure 2 As shown, in some embodiments, the conveying direction of the head section 111a of one of the two mating conveying mechanisms 111 shown in this embodiment is set at an angle to the conveying direction of the tail section 111b of the other.

[0111] Specifically, since the conveying path P is in a closed-loop shape, correspondingly, there is a need for the stack to change direction during conveying. By arranging the conveying directions of two mating conveying mechanisms 111 at an angle, a plurality of conveying mechanisms 111 can form a closed loop, and at the same time, the stack can change direction during conveying.

[0112] Combined with Figure 1 and Figure 2 As shown, in some embodiments, the conveying direction of the first section 111a of one of the two mating conveying mechanisms 111 shown in this embodiment is perpendicular to the conveying direction of the tail section 111b of the other.

[0113] Furthermore, combined with Figure 1 and Figure 2 As shown, in some embodiments, there are four conveying mechanisms 111 shown in this embodiment; and / or, along the conveying path P, an operation station B is arranged between two adjacent target stations A; and / or, the conveying direction of the conveying mechanism 111 is a straight line direction.

[0114] Specifically, there are four conveying mechanisms 111, and the conveying path P is in a rectangular closed loop. Correspondingly, there are four target stations A, and the four target stations A are respectively located at the four right-angle vertices of the rectangular closed loop. There are four operation stations B, and the four operation stations B are respectively located on the four sides of the rectangular closed loop.

[0115] Based on the same inventive concept, the present application also provides a palletizing and depalletizing system 100. Combined with Figure 12 and Figure 13 , Figure 12 shows a top view structural schematic diagram of the palletizing and depalletizing system in an embodiment of the present application, Figure 13 shows a side view structural schematic diagram of the palletizing and depalletizing system in an embodiment of the present application; the palletizing and depalletizing system 100 includes the conveying device 110 and the transfer device 120 as described above; the transfer device 120 is arranged inside the conveying path P; the transfer device 120 is configured to transfer the target sub-stack 210 of the stack to be depalletized 200 located on the connection section 111c of the first target operation station to the stack to be palletized 300 located on the connection section 111c of the second target operation station; wherein, at least one operation station in the operation station B is the first target operation station, the operation stations in the operation station B other than the first target operation station are other operation stations, and at least one operation station in the other operation stations is the second target operation station.

[0116] Specifically, the first target operation station is equivalent to the unstacking station, and the second target operation station is equivalent to the stacking station. The target sub-stack 210 removed from the first target operation station is transferred to the second target operation station, thereby realizing the transfer of the target sub-stack 210. Through the transfer of the target sub-stack 210, unstacking and stacking can be achieved. Among them, during stacking, the second target operation station can either receive only the target sub-stack 210 from one stack to be unstacked 200 or receive the target sub-stack 210 from multiple stacks to be unstacked 200, which can be determined according to the actual stacking height and the number of target sub-stacks 210, and at the same time, the transfer times of the target sub-stack 210 are reduced as much as possible, thereby improving the efficiency of unstacking and stacking.

[0117] In some embodiments, the conveying mechanism 111 corresponding to the first target operation station shown in this embodiment and the conveying mechanism 111 corresponding to the second target operation station are different conveying mechanisms.

[0118] Specifically, since at least one operation station B is arranged between two adjacent target stations A, in the case where multiple operation stations B are arranged between two adjacent target stations A, that is, there may be multiple operation stations B on one connection section 111c. If the first target operation station and the second target operation station are set on one connection section 111c at the same time, it means that there are both the unstacked body obtained after unstacking and the stacked body obtained after stacking on one connection section 111c, and the unstacked body and the stacked body are synchronously conveyed under the action of the connection section 111c, which is difficult to distinguish. In the case where the unstacked body and the stacked body are not both stacks with the required number of layers, it is not conducive to the subsequent separate discharging of the stacks. Therefore, the conveying mechanism 111 corresponding to the first target operation station and the conveying mechanism 111 corresponding to the second target operation station are set as different conveying mechanisms 111. That is to say, the conveying object of any one conveying mechanism 111 is unique, and the conveying object is the unstacked body or the stacked body, and there will be no situation where the unstacked body and the stacked body are on the same conveying mechanism 111.

[0119] In some embodiments, the connection section 111c located at the second target operation station shown in this embodiment has a loading state for carrying the stack to be stacked 300 and an empty state without carrying the stack to be stacked 300.

[0120] Specifically, in the loading state, the stacking process is to transfer the target sub-stack 210 of the stack to be unstacked 200 onto the stack to be stacked 300, which is equivalent to realizing the stacking of layers on the basis of the stack to be stacked 300. In the empty state, the stacking process is equivalent to stacking a new stack from scratch. According to the actual requirements of the number of layers of the stack and the number of target sub-stacks, the loading state or the empty state is correspondingly executed.

[0121] Combined with Figure 12 andFigure 13 As shown, in some embodiments, the transfer device 120 shown in this embodiment includes a base 121 and a transfer assembly 122; the base 121 is disposed within the conveying path P; the transfer assembly 122 is rotatably disposed on the base 121 about a first axis L1; the transfer assembly 122 is used for transferring the target sub-stack 210; wherein, the conveying path P has a second axis L2, and the first axis L1 and the second axis L2 coincide with each other or are parallel to each other. The first axis L1 and the second axis L2 are schematically shown by dotted lines in Figure 13 and the first axis L1 and the second axis L2 coincide with each other.

[0122] Specifically, the base 121 is disposed within the conveying path P, and multiple conveying mechanisms 111 are arranged around the base 121 and the transfer assembly 122. On the one hand, the layout space within the conveying path P is fully utilized, and the problem that the base 121 occupies the layout space outside the conveying path P is overcome. On the other hand, the distances between the transfer assembly 122 and each of the conveying mechanisms 111 are relatively average in space. When the transfer assembly 122 carries the target sub-stack 210 to switch between each conveying mechanism, the transfer distance is reduced, and accordingly, the transfer efficiency is improved. On the other hand, the transfer assembly 122 transfers the stack by rotation. Compared with the linear transfer in the related art, the rotational transfer improves the flexibility of the stack transfer.

[0123] It can be understood that during the palletizing and depalletizing processes, it is possible that the target sub-stack on a to-be-depalletized stack is transferred to a to-be-palletized stack, which is equivalent to one-to-one; it is also possible that the target sub-stacks on a to-be-depalletized stack are respectively transferred to multiple to-be-palletized stacks, which is equivalent to one-to-many; it is also possible that the target sub-stacks on multiple to-be-depalletized stacks are transferred to the same to-be-palletized stack, which is equivalent to many-to-one. Based on the relatively average distances between the transfer assembly 122 and each of the conveying mechanisms 111 in space, according to the actual palletizing and depalletizing processes, the rotation sequence of the transfer assembly is reasonably planned, so as to more efficiently realize the transfer of the target sub-stack. For example, in the case of one-to-many, the to-be-depalletized stack and the multiple to-be-palletized stacks can be arranged in sequence along the clockwise direction. Thus, the transfer assembly only needs to rotate from the to-be-depalletized stack to the last to-be-palletized stack along the clockwise direction, effectively reducing the ineffective reciprocating rotation of the transfer assembly and improving the transfer efficiency.

[0124] Wherein, the direction where the first axis L1 and the second axis L2 are located is Figure 12 the direction perpendicular to the paper surface in Figure 13 and is also the direction from top to bottom or from bottom to top in . When the first axis L1 and the second axis L2 coincide with each other, the distances from the rotation center of the transfer assembly 122 to each of the conveying mechanisms 111 are equal.

[0125] Combined withFigures 13 to 15 As shown Figure 14 FIG. 1 shows one of the schematic structural diagrams of the transfer assembly in an embodiment of the present application. Figure 15 FIG. 2 shows another schematic structural diagram of the transfer assembly in an embodiment of the present application; in some embodiments, the transfer assembly 122 shown in this embodiment includes a seat body 122a and two clamping members 122b; the seat body 122a is rotatably arranged on the base 121 around the first axis L1, and the two clamping members 122b are movably arranged on the seat body 122a; the two clamping members 122b are configured to be able to generate relative movement along the second direction F2 to clamp or release the target sub-stack 210; wherein, the second direction F2 is perpendicular to the extension direction of the first axis L1 and the extension direction of the second axis L2 respectively. It can be understood that the second direction F2 is any direction in the plane perpendicular to the first axis L1.

[0126] Specifically, the seat body 122a serves as the reference for the movement of the two clamping members 122b. By approaching or separating the clamping members 122b, the target sub-stack 210 is clamped or released. Since the second direction F2 is any direction in the plane perpendicular to the first axis L1, the two clamping members 122b can clamp the target sub-stack 210 from multiple directions, improving the reliability of clamping.

[0127] Furthermore, as shown in FIGS. 3 and 4, in some embodiments, the clamping member 122b shown in this embodiment includes two relatively arranged clamping parts, and the two relatively arranged clamping parts are used to approach or separate. The relative movement direction of the two clamping parts of one clamping member 122b is perpendicular to the relative movement direction of the two clamping parts of the other clamping member 122b. That is, in the horizontal plane, the two clamping parts of one clamping member 122b clamp the target sub-stack 210 along the direction where the X axis is located, and the two clamping parts of the other clamping member 122b clamp the target sub-stack 210 along the direction where the Y axis is located, so as to adapt to target sub-stacks 210 of different sizes. Figure 14 and Figure 15 FIG. 3 schematically shows a side view structural diagram along the X-axis direction, and FIG. 4 schematically shows a side view structural diagram along the Y-axis direction. Figure 14 FIG. 3 Figure 15 FIG. 4

[0128] Wherein, the target sub-stack 210 may include a plurality of products arranged in a fitting manner.

[0129] Combined with FIGS. 5 and 6, in some embodiments, the transfer assembly 122 shown in this embodiment further includes a suction member 122c arranged on the seat body 122a; the suction member 122c is used to provide a suction force for sucking the target sub-stack 210 along the third direction F3; wherein, the third direction F3 is perpendicular to the second direction F2, that is, the third direction F3 is parallel to the first direction F1. Figures 13 to 15 FIG. 5

[0130] Specifically, after the two clamping members 122b clamp the target sub-stack 210 along the second direction F2, the suction member 122c adsorbs the upper surface of the target sub-stack 210 along the third direction F3, thereby equivalently grasping the target sub-stack 210 from three mutually perpendicular directions, improving the reliability of grasping the target sub-stack 210.

[0131] Among them, the suction member 122c can be a suction cup, and the suction cup adsorbs the target sub-stack 210 by means of negative pressure.

[0132] Furthermore, as shown in Figures 13 to 15 In some embodiments, the transfer assembly 122 shown in this embodiment further includes a lifting drive member 122d, and the seat body 122a is connected to the suction member 122c through the lifting drive member 122d; the lifting drive member 122d is used to drive the suction member 122c to move along the third direction F3; among them, the third direction F3 is perpendicular to the second direction F2, that is, the third direction F3 is parallel to the first direction F1.

[0133] Specifically, for different products, the heights are different. The lifting drive member 122d drives the suction member 122c to lift and lower, so as to adapt to different products, so as to achieve flexible grasping of different products. For products with a higher height, the suction member 122c can be appropriately lifted so that the clamping member 122b can have a sufficient clamping area to clamp the side surface of the product. For products with a lower height, the suction member 122c can be appropriately lowered so that the suction member 122c can fit the upper surface of the product, further improving the reliability of clamping.

[0134] Based on the same inventive concept, the present application also provides a logistics conveying system, including the conveying device 110 described above or the palletizing and depalletizing system 100 described above.

[0135] The present application also provides a palletizing and depalletizing method, which is applied to the palletizing and depalletizing system described above. As shown in Figure 16 shown, Figure 16 The flowchart of the palletizing and depalletizing method in an embodiment of the present application is shown. In some embodiments, the palletizing and depalletizing method shown in this embodiment includes S1610 and S1620. In this palletizing and depalletizing method, the palletizing and depalletizing process is described from the perspective of depalletizing.

[0136] S1610. Obtain the depalletizing parameter data of the depalletizing stack located at the first target operation station.

[0137] In this step, there are a certain number of target sub-pallet stacks on the pallet stack to be disassembled, and all these target sub-pallet stacks need to be removed from the pallet stack to be disassembled. The removed target sub-pallet stacks are used for palletizing at the corresponding second target operation station. Here, there are two types of pallet stacks to be disassembled. The first type is that the pallet stack to be disassembled is entirely composed of target sub-pallet stacks, that is, this type of pallet stack to be disassembled will be completely disassembled. The second type is that a part of the pallet stack to be disassembled is composed of target sub-pallet stacks. After removing the target sub-pallet stacks, the remaining part is a pallet stack with the number of layers meeting the requirements, that is, this type of pallet stack to be disassembled will not be completely disassembled. Regardless of which type of pallet stack to be disassembled, the number of corresponding target sub-pallet stacks and the placement positions of the removed target sub-pallet stacks are pre-determined. Therefore, the depalletizing parameter data includes the quantity information of the target sub-pallet stacks to be removed from the pallet stack to be disassembled and the placement position information of the target sub-pallet stacks removed from the pallet stack to be disassembled.

[0138] S1620. Based on the depalletizing parameter data, transfer the target sub-pallet stacks of the pallet stack to be disassembled to the second target operation station; wherein, there is at least one first target operation station and at least one second target operation station, and the first target operation station and the second target operation station are arranged along a closed-loop conveying path.

[0139] In this step, after obtaining the quantity information of the target sub-pallet stacks to be removed from the pallet stack to be disassembled and the placement position information of the removed target sub-pallet stacks, transfer a preset number of target sub-pallet stacks to the corresponding second target operation station through a transfer device for subsequent palletizing operations; at the same time, the first target operation station and the second target operation station are arranged along a closed-loop conveying path, that is, both depalletizing and palletizing are completed on the conveying mechanism.

[0140] In some embodiments, before S1610, it includes: conveying the pallet stack to be disassembled located at the target station to the corresponding first target operation station; wherein, there are multiple target stations, and the multiple target stations are arranged in sequence along a closed-loop conveying path; along the conveying path, there is at least one operation station between two adjacent target stations; at least one of the operation stations is the first target operation station, and all operation stations other than the first target operation station are other operation stations, and at least one of the other operation stations is the second target operation station.

[0141] Specifically, as described above, the target work station can be equivalent to the buffer work station for the stack to be unstacked. Under the conveying action of the connection section, the stack to be unstacked is located at the first target operation work station. Then, the unstacking operation is performed on the basis of the stack to be unstacked by the transfer device. For the first type of stack to be unstacked, it will be completely unstacked, and the whole stack to be unstacked serves as the source of the target sub-stack; for the second type of stack to be unstacked, it will not be completely unstacked, and a part of the stack to be unstacked serves as the source of the target sub-stack. Thus, a stack with the number of layers meeting the requirements is obtained by reducing the target sub-stack. The removed target sub-stack is transferred to the corresponding second target operation work station for stacking. The number of the first target operation work stations and the number of the second target operation work stations can be determined according to the actual unstacking parameters. While reducing the transfer times of the target sub-stack, efficient coordination and cooperation among each operation work station are achieved.

[0142] Among them, the specific coordination and cooperation method depends on one-to-one, one-to-many or many-to-one in the above-mentioned stacking and unstacking, which will not be elaborated here.

[0143] In some embodiments, after S1620, it includes: after the stacking operation on the second target operation work station is completed, the current stack located on the second target operation work station is transferred to the corresponding target work station for unstacking.

[0144] Specifically, the removed target sub-stack is transferred to the second target operation siege for stacking operation. When the number of layers of the stack obtained after the stacking operation meets the requirements, it indicates that the stacking operation is completed. Under the conveying of the connection section, the stack is transferred to the target work station, and the stack is unloaded at the target work station. Since there are multiple target work stations along the conveying path, unloading can be realized from multiple positions to adapt to the position of the unloading equipment, and at the same time, the coordination and cooperation between the loading and unloading of the stack on the target work station are achieved.

[0145] In some embodiments, the code-unstacking method shown in this embodiment further includes: if the target sub-stack of the stack to be unstacked on the first target operation work station has been completely unstacked and there is still a stack on the first target operation work station, the current stack located on the first target operation work station is transferred to the corresponding target work station for unstacking.

[0146] Specifically, as described above, for the second type of stack to be unstacked, a stack with the number of layers meeting the requirements is obtained by removing a certain number of target sub-stacks. For this type of stack to be unstacked, a stack with the number of layers meeting the requirements can be obtained after the target sub-stack is completely unstacked, and the stack is transferred to the corresponding target work station for unloading.

[0147] In some embodiments, the transfer path of the target sub-stack shown in this embodiment is configured as a closed-loop path, and the transfer path of the target sub-stack is adapted to the conveying path; among them, both the first target operation work station and the second target operation work station are located on the transfer path of the target sub-stack.

[0148] Specifically, as described above, the conveying path is in a closed-loop shape. Correspondingly, the first target operation station and the second target operation station are located on the conveying path. At the same time, the first target operation station and the second target operation station are also located on the transfer path of the target sub-stack. Thus, when the transfer device grabs the target sub-stack at the first target operation station and places the target sub-stack at the second target operation station, it is not necessary to perform centering adjustment in the horizontal direction, and the target sub-stack can be grabbed and placed more accurately, thereby realizing the adaptation of the transfer path and the conveying path and improving the transfer efficiency of the target sub-stack while reducing centering adjustment.

[0149] The present application also provides a palletizing and depalletizing method, which is applied to the palletizing and depalletizing system as described above. Combining Figure 17 as shown Figure 17 Fig. shows a schematic flow chart of the palletizing and depalletizing method in an embodiment of the present application. In some embodiments, the palletizing and depalletizing method shown in this embodiment includes S1710 and S1720. In this palletizing and depalletizing method, the palletizing and depalletizing process is described from the perspective of palletizing.

[0150] S1710. Obtain the palletizing parameter data located at the second target operation station.

[0151] In this step, the target sub-stacks are stacked at the second target operation station, so as to obtain a stack with the number of layers meeting the requirements by means of palletizing. Correspondingly, the palletizing parameter data includes the quantity information of the target sub-stacks to be stacked. At the same time, the source of the target sub-stacks is the stack to be depalletized at the first target operation station. Therefore, the palletizing parameter data also includes the source position information of the target sub-stacks.

[0152] It should be noted that there are two situations for the palletizing operation at the second target operation station. The first situation is that the second target operation station is in an empty state, that is, there is no stack to be palletized at the second target operation station, and it is necessary to palletize a stack with the number of layers meeting the requirements from scratch using the target sub-stacks at the second target operation station. The second situation is that the second target operation station is in a loaded state, that is, there is a stack to be palletized at the second target operation station, and it is necessary to continue to stack the target sub-stacks on the stack to be palletized to obtain a stack with the number of layers meeting the requirements.

[0153] S1720. Based on the palletizing parameter data, transfer the target sub-stacks of the stack to be depalletized at the first target operation station to the second target operation station; wherein, at least one of the first target operation station and the second target operation station is provided, and the first target operation station and the second target operation station are arranged along the closed-loop conveying path.

[0154] In this step, after obtaining the quantity information of the target sub-pallet stacks to be stacked and the source position information of the target sub-pallet stacks, a certain number of target sub-pallet stacks are transferred from the corresponding first target operation station to the second target operation station by a transfer device for palletizing operations; meanwhile, the first target operation station and the second target operation station are arranged along a closed-loop conveying path, that is, both the depalletizing and palletizing operations are completed on the conveying mechanism.

[0155] In some embodiments, before S1710, it includes: conveying the stackable objects located at the target stations to the corresponding second target operation stations; wherein, there are multiple target stations, and the multiple target stations are arranged in sequence along a closed-loop conveying path; along the conveying path, at least one operation station is arranged between two adjacent target stations; at least one of the operation stations is the first target operation station, and the operation stations other than the first target operation station among all operation stations are other operation stations, and at least one of the other operation stations is the second target operation station.

[0156] Specifically, as described above, the target stations can be equivalent to the buffer stations for the stackable objects. For the second situation of the above palletizing operation, under the conveying action of the connection section, the stackable objects are located at the second target operation station, and then the transfer device performs palletizing operations on the basis of the stackable objects to obtain a pallet stack with the number of layers meeting the requirements by stacking. The number of the first target operation stations and the number of the second target operation stations can be determined according to the actual depalletizing parameters, while reducing the number of transfers of the target sub-pallet stacks, and realizing efficient coordination and cooperation among each operation station.

[0157] Among them, the specific coordination and cooperation method depends on one-to-one, one-to-many or many-to-one in the above-mentioned palletizing and depalletizing, which will not be elaborated here.

[0158] In some embodiments, after S1720, it includes: after the palletizing operation on the second target operation station is completed, transferring the current pallet stack located on the second target operation station to the corresponding target station for discharging the pallet.

[0159] Specifically, after the palletizing operation is completed, a pallet stack with the number of layers meeting the requirements is obtained. At this time, it indicates that the palletizing operation is completed. Under the conveying of the connection section, the pallet stack is transferred to the target station, and the pallet stack is discharged at the target station. Since there are multiple target stations along the conveying path, discharging can be realized from multiple positions to adapt to the position of the discharging equipment, and at the same time, the coordination and cooperation between the loading and discharging of the pallet stack on the target station are realized.

[0160] In some embodiments, the case unstacking method shown in this embodiment further includes: if the target sub-stack of the case to be unstacked on the first target operation station has been completely unstacked and there is still a stack on the first target operation station, then transfer the current stack located on the first target operation station to the corresponding target station for unstacking.

[0161] Specifically, in this case unstacking method, the removed target sub-stacks are stacked to obtain a stack with the number of layers after stacking meeting the requirements. The case to be unstacked serves as the source for providing the target sub-stacks. As described above, for the second type of case to be unstacked, a stack with the number of layers meeting the requirements is obtained after removing a certain number of target sub-stacks. For this type of case to be unstacked, a stack with the number of layers meeting the requirements can be obtained after the target sub-stacks are completely unstacked, and then this stack is transferred to the corresponding target station for discharging.

[0162] In some embodiments, the transfer path of the target sub-stack shown in this embodiment is configured as a closed-loop path, and the transfer path of the target sub-stack is adapted to the conveying path; wherein, both the first target operation station and the second target operation station are located on the transfer path of the target sub-stack.

[0163] Specifically, as described above, the conveying path is in a closed-loop shape. Correspondingly, the first target operation station and the second target operation station are located on the conveying path. At the same time, the first target operation station and the second target operation station are also located on the transfer path of the target sub-stack. Thus, when the transfer device grabs the target sub-stack at the first target operation station and places the target sub-stack at the second target operation station, it is not necessary to perform centering adjustment in the horizontal direction, and the target sub-stack can be grabbed and placed more accurately, thereby realizing the adaptation of the transfer path and the conveying path and improving the transfer efficiency of the target sub-stack while reducing centering adjustment.

[0164] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0165] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A conveying device, characterized in that, The conveying device is provided with a plurality of target workstations and a plurality of operating workstations. The plurality of target workstations are arranged in sequence along a closed-loop conveying path. Along the conveying path, at least one of the operating workstations is arranged between two adjacent target workstations. The conveying device includes a plurality of conveying mechanisms for transferring stack bodies. Each conveying mechanism includes a head section, a tail section, and a connecting section connecting the head section and the tail section. The head section and the tail section are respectively located at two adjacent target workstations, and at least a part of the connecting section is located at the corresponding operating workstation. The target workstation is used to perform the operations of loading and unloading stack bodies, and the operating workstation is used to perform the operations of palletizing and depalletizing. The plurality of conveying mechanisms are connected end to end along the conveying path. One of the head sections of two mating conveying mechanisms is mated with the tail section of the other and is located at the same target workstation, so that the stack body located at the target workstation can be selectively conveyed in the target direction. The target direction is determined by the two mating conveying mechanisms.

2. The conveying device according to claim 1, characterized in that, Two mating conveying mechanisms have a first mating state and a second mating state. In the first mating state, the conveying surfaces of the head section of one of the two mating conveying mechanisms and the tail section of the other are overlapped with each other. In the second mating state, the conveying surfaces of the head section of one of the two mating conveying mechanisms and the tail section of the other are separated from each other.

3. The conveying device according to claim 2, characterized in that, Among two mating conveying mechanisms, at least one of the head section of one of them and the tail section of the other is configured to be able to lift in a first direction, so that the two mating conveying mechanisms can be switched between the first mating state and the second mating state. The conveying surfaces of the head section of one of the two mating conveying mechanisms and the tail section of the other are both planes perpendicular to the first direction.

4. The conveying device according to claim 2, characterized in that The head section of one of the two mating conveying mechanisms is configured as a chain conveyor or a belt conveyor, and the tail section of the other is configured as a roller conveyor.

5. The conveying device according to any one of claims 1 to 3, characterized in that At least one of the plurality of conveying mechanisms is a target conveying mechanism. Among them, in the same target conveying mechanism, there are two adjacent ones among the head section, the connecting section, and the tail section that can be detachably mated; or In the same target conveying mechanism, the head section, the connecting section, and the tail section are connected in sequence.

6. The conveying device according to any one of claims 1 to 3, characterized in that, The conveying mechanism has a first conveying mode. In the first conveying mode, the head section is used to load the stack body, the tail section is used to unload the stack body, and the connecting section can convey the stack body in the direction from the head section to the tail section; and / or The conveying mechanism has a second conveying mode. In the second conveying mode, the head section is used to unload the stack body, the tail section is used to load the stack body, and the connecting section can convey the stack body in the direction from the tail section to the head section.

7. The conveying device according to any one of claims 1 to 3, characterized in that The conveying direction of the head section of one of the two mating conveying mechanisms is set at an angle with the conveying direction of the tail section of the other.

8. The conveying device according to claim 7, characterized in that The conveying direction of the first section of one of the two mating conveying mechanisms is perpendicular to the conveying direction of the last section of the other.

9. The conveying device according to claim 8, wherein Four of the conveying mechanisms are provided; and / or Along the conveying path, one operation station is arranged between two adjacent target stations; and / or The conveying direction of the conveying mechanism is a straight line direction.

10. A code unstacking system, characterized in that, Comprising: The conveying device according to any one of claims 1-9; and A transfer device, arranged within the conveying path; the transfer device is configured to transfer the target sub-stack of the to-be-unstacked body on the connection section at the first target operation station to the connection section at the second target operation station; Wherein, at least one of all the operation stations is the first target operation station, and the operation stations other than the first target operation station among all the operation stations are other operation stations, and at least one of the other operation stations is the second target operation station.

11. The code palletizing system according to claim 10, characterized in that, The conveying mechanism corresponding to the first target operation station and the conveying mechanism corresponding to the second target operation station are different conveying mechanisms.

12. The code unstacking system according to claim 10, wherein The connection section at the second target operation station has a loading state for loading the to-be-piled body and an empty state without loading the to-be-piled body.

13. The code unstacking system according to any one of claims 10-12, characterized in that, The transfer device includes: A base, arranged within the conveying path; and A transfer assembly, rotatably arranged on the base around a first axis; the transfer assembly is used to transfer the target sub-stack. Wherein, the conveying path has a second axis, and the first axis and the second axis coincide with each other or are parallel to each other.

14. The code depalletizing system according to claim 13, wherein The transfer assembly includes: A seat body, rotatably arranged on the base around the first axis; and Two clamping members, movably arranged on the seat body; the two clamping members are configured to be able to move relatively in a second direction to clamp or release the target sub-stack. Wherein, the second direction is perpendicular to the extending direction of the first axis and the extending direction of the second axis respectively.

15. The code unstacking system according to claim 14, characterized in that, The transfer assembly further includes a suction member arranged on the seat body; The suction member is used to provide a suction force for sucking the target sub-stack in a third direction; Wherein, the third direction is perpendicular to the second direction.

16. The code depalletizing system according to claim 14, characterized in that, The transfer assembly further includes a lifting driving member; The seat body is connected to the suction member through the lifting driving member; the lifting driving member is used to drive the suction member to move in the third direction; Wherein, the third direction is perpendicular to the second direction.

17. A logistics conveying system, characterized in that, Comprising the conveying device according to any one of claims 1-9; or Comprising the palletizing and depalletizing system according to any one of claims 10-16.

18. A method for code palletizing, characterized in that, Comprising: Obtain the depalletizing parameter data of the to-be-unstacked body at the first target operation station; Based on the depalletizing parameter data, transfer the target sub-stack of the to-be-unstacked body to the second target operation station; Wherein, at least one of the first target operation station and the second target operation station is provided, and the first target operation station and the second target operation station are arranged along a closed-loop conveying path.

19. The method for code unstacking according to claim 18, wherein Before obtaining the depalletizing parameter data of the to-be-unstacked body at the first target operation station, it includes: Transport the stack to be unstacked at the target station to the corresponding first target operation station; Among them, there are multiple target stations, and the multiple target stations are arranged in sequence along a closed-loop conveying path; along the conveying path, at least one operation station is arranged between two adjacent target stations; At least one of all the operation stations is the first target operation station, and the operation stations other than the first target operation station among all the operation stations are other operation stations, and at least one of the other operation stations is the second target operation station.

20. The method for code palletizing according to claim 19, wherein After transferring the target sub-stack of the stack to be unstacked to the second target operation station based on the unstacking parameter data, it includes: After the palletizing operation at the second target operation station is completed, transfer the current stack at the second target operation station to the corresponding target station for de-palletizing.

21. The method for code palletizing according to any one of claims 18-20, characterized in that, The transfer path of the target sub-stack is configured as a closed-loop path, and the transfer path of the target sub-stack is adapted to the conveying path; Among them, both the first target operation station and the second target operation station are located on the transfer path of the target sub-stack.

22. A method for code palletizing, characterized in that, It includes: Obtain the palletizing parameter data located at the second target operation station; Based on the palletizing parameter data, transfer the target sub-stack of the stack to be unstacked at the first target operation station to the second target operation station; Among them, there is at least one first target operation station and at least one second target operation station, and the first target operation station and the second target operation station are arranged along a closed-loop conveying path.

23. The method for code unstacking according to claim 22, characterized in that, Before obtaining the palletizing parameter data located at the second target operation station, it includes: Transport the stack to be palletized at the target station to the corresponding second target operation station; Among them, there are multiple target stations, and the multiple target stations are arranged in sequence along a closed-loop conveying path; along the conveying path, at least one operation station is arranged between two adjacent target stations; At least one of all the operation stations is the first target operation station, and the operation stations other than the first target operation station among all the operation stations are other operation stations, and at least one of the other operation stations is the second target operation station.

24. The method for code palletizing according to claim 22, characterized in that, After transferring the target sub-stack of the stack to be unstacked at the first target operation station to the second target operation station based on the palletizing parameter data, it includes: After the palletizing operation at the second target operation station is completed, transfer the current stack at the second target operation station to the corresponding target station for de-palletizing.

25. The method for code unstacking according to any one of claims 22-24, characterized in that, The transfer path of the target sub-stack is configured as a closed-loop path, and the transfer path of the target sub-stack is adapted to the conveying path; Among them, both the first target operation station and the second target operation station are located on the transfer path of the target sub-stack.

Images