Box-type material automatic car loader

Abstract

The invention provides a box type material automatic car loader. The box type material automatic car loader comprises a gantry type walking mechanism, a parallel type box body posture adjusting device, a temporary storage mechanism and a lifting stacking mechanism. The gantry type walking mechanism comprises a gantry type frame assembly and a plurality of sets of walking wheels used for lifting in a reciprocating mode to cross high and low steps. The parallel type box body posture adjusting device is installed on the gantry type walking mechanism and is configured to sequentially distribute box type materials continuously input along a first horizontal path to a second horizontal path and a third horizontal path to be conveyed. Carrying out first posture adjustment on the box-type materials with the original postures conveyed on the second horizontal path and the third horizontal path in parallel; the caching mechanism directly outputs the plurality of box-type materials continuously output by the parallel box body posture adjusting device or outputs the box-type materials after caching the box-type materials; the lifting stacking mechanism arranges the multiple box-type materials output by the temporary storage mechanism in rows in the first direction and then stacks the box-type materials into a compartment. The device is high in attitude adjustment and operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic loading and unloading of logistics, and in particular to an automatic loading machine for box-type materials. Background Art

[0002] The logistics process of materials (cargo) generally involves warehousing, loading, transshipment, unloading, storage, and distribution. Loading is a crucial step in the logistics process. Currently, loading is generally done manually, which has the following disadvantages: First, the operating environment is harsh, such as working in enclosed truck compartments in high or low temperatures, especially when loading highly dusty materials in enclosed compartments. Second, the labor intensity is high. Loading and unloading large trucks is physically demanding, and with the aging population, it is difficult to recruit workers. Third, maintaining operational efficiency requires a large number of workers, resulting in high labor costs. Fourth, manual operations pose the risk of cargo tipping over and injuring people. Fifth, manual loading and unloading of high-risk materials (such as emulsion explosives) poses a safety hazard.

[0003] Therefore, in order to overcome the shortcomings of manual loading operations, some automatic material loading devices have been proposed in the field. For example, Chinese patent CN21658312U provides an automatic loading system for flatbed trucks. This system extends a telescopic conveyor into the top of the flatbed truck, and sets a stacking robot arm that can slide along the length of the flatbed truck above the telescopic conveyor. The stacking robot arm stacks the carton materials output from the telescopic conveyor on the flatbed truck 3. Although this automatic loading system can avoid the influence of the gooseneck step on the car body, the installation of the stacking robot arm requires space above the telescopic conveyor. Moreover, when the telescopic conveyor is located inside the workshop and there is a platform outside the workshop, the loading vehicle can only be parked outside the platform, and the stacking robot arm can only be installed at the platform position, making it impossible to achieve automatic loading under such working conditions.

[0004] Chinese patent CN114435991A discloses an automatic loading system for stacked materials in a container. The system includes a sliding mounting frame, a driven guide feeder mechanism, a material adjustment mechanism, and a material stacking mechanism. The driven guide feeder mechanism inputs the material to be loaded, controls the sliding mounting frame to slide and extend, and then supports it at the bottom of the container cavity. The material adjustment mechanism adjusts the horizontal angle of the material output by the driven guide feeder mechanism, and the material stacking mechanism then transfers the adjusted material into the container. The movable dimensions of the material stacking mechanism along the length of the container are limited by the design dimensions of the stacking mechanism. The stacking mechanism as a whole cannot move freely forward and backward, making it unsuitable for truck cargo boxes with gooseneck steps. The loading automation and intelligent level are low, and the material posture cannot be changed in directions other than the horizontal direction. For boxed materials, only two loading postures of the same height are available, resulting in a low loading efficiency. Furthermore, the system can only be installed on a platform outside a workshop, occupying a large parking space when not in use.

[0005] In summary, most of the existing box-type material loading devices have the following problems: 1. The operating space can only be located at the platform outside the workshop, and parking takes up a lot of space; 2. It cannot adapt to the steps in the carriage while ensuring the level of the conveying surface. Or when there is a height difference between the output plane of the box-type material loading device and the bottom of the carriage, it cannot ensure that the conveying surface is level when the material is conveyed between the two, which may easily cause the material to overturn during the conveying process. 3. During the transportation process, only a single posture change can be performed on the material at each moment, and the posture adjustment efficiency and transportation efficiency are low. Due to the small number of postures, the stacking efficiency is not high; or, if a robot is used to adjust the posture for stacking, the robot needs to occupy the space inside the carriage or the upper side of the conveying channel. For a closed carriage, the space occupied by the robot on the upper side of the conveying channel will affect the stacking of the top layer of materials.

[0006] Therefore, a technical solution is needed that can efficiently adjust the posture of box-type materials and at the same time adapt to various specifications of carriages (with steps or different heights and sizes) to achieve automatic loading and convenient parking. Summary of the Invention

[0007] In view of this, an embodiment of the present invention provides a box-type material automatic loading machine, which is used to solve the problems in the prior art that the automatic loading device occupies a large space when parked, cannot be used for carriages of different specifications, can only achieve a single posture adjustment of the box at each moment, has low posture adjustment and operation efficiency, and the robot palletizing occupies a large space.

[0008] The application provides a box material automatic loading machine, which comprises a portal walking mechanism, a parallel box posture adjusting device, a buffer mechanism and a lifting stacking mechanism. The portal walking mechanism comprises a portal frame assembly and a plurality of walking wheels installed at the bottom of the frame assembly; each group of walking wheels is configured to reciprocatingly ascend and descend along the vertical direction to cross high and low steps. The parallel box posture adjusting device is installed on the portal walking mechanism, and is configured to sequentially distribute the box materials continuously input along a first horizontal path to a second horizontal path and a third horizontal path, and simultaneously adjust the postures of the box materials with original postures on the second horizontal path and the third horizontal path to obtain box materials with first postures. The buffer mechanism is installed on the portal walking mechanism and arranged at the front end of the parallel box posture adjusting device, and is used for directly outputting or outputting after buffering the plurality of box materials continuously output by the parallel box posture adjusting device. The lifting stacking mechanism is installed on the portal walking mechanism and arranged at the front end of the buffer mechanism, and is used for arranging the plurality of box materials output by the buffer mechanism in a row along a first direction and stacking the box materials into a carriage.

[0009] The box material automatic loading machine provided by the application has the following beneficial effects: 1. The parallel box posture adjusting device is provided, which sequentially distributes the box materials continuously input along a first horizontal path to a second horizontal path and a third horizontal path, and simultaneously adjusts the postures of the box materials with original postures on the second horizontal path and the third horizontal path to obtain box materials with first postures. At each moment, the plurality of postures of the box materials can be adjusted without stopping and waiting, and the parallel operation does not interfere with each other, which greatly improves the posture adjustment speed of the box materials and the posture adjustment operation efficiency. 2. The parallel box posture adjusting device can further adjust the postures of the box materials in the conveying process through speed composition by controlling the second row of rollers in the left and right roller conveying assemblies to convey at the same time and making the balance wheel reversing assembly convey forward, so that the continuous posture adjustment of the box materials is completed in the conveying process, and the material conveying and posture adjustment efficiency is high. 3. The parallel box posture adjusting device can adjust the postures of the materials to a plurality of postures in the conveying process, and then realize automatic intelligent mixed loading, improve the automation level of the equipment, and improve the loading rate of the carriage. 4. The present invention is provided with a gantry-type traveling mechanism in which the traveling wheel groups can be independently raised and lowered. The gantry-type frame structure can be parked in the workshop by riding on a chain belt telescopic machine. Therefore, the automatic loader of the present invention can meet the requirements of parking in the workshop and the demand for loading without a platform, thereby increasing its adaptability to the workshop. At the same time, it can adapt to the height difference between the conveying plane and the bottom surface of the carriage of a box-type material loader. 5. The present invention is provided with a gantry-type traveling mechanism in which the traveling wheels can be raised and lowered independently. This allows the material to be transported across different steps while maintaining the material conveying surface unchanged, and to be stacked on the steps inside the gooseneck truck compartment. Therefore, the automatic loading machine of the present invention can adapt to compartments with various steps, thus expanding the scope of application of the compartment. 6. The present invention is provided with a rotatable climbing conveyor assembly, which can be docked with telescopic chain conveyors of different heights, so that the entire device can be loaded even when riding on the chain telescopic machine, and takes up little space; 7. The present invention is provided with a buffer mechanism, so that materials can be temporarily stored side by side on the buffer mechanism, and combined with the first roller conveyor assembly of the parallel box multi-posture adjustment device, it can achieve a secondary buffer, which can continuously convey and buffer materials, eliminating the waiting time for material transportation and effectively improving the loading efficiency; 8. The present invention is equipped with a lifting and stacking mechanism. The two-stage lifting assembly increases the operating range in the height direction, realizes the whole-surface stacking and loading, and improves the loading efficiency. 9. The width adaptation component provided on the lifting and stacking mechanism of the present invention increases the operating range in the width direction, can adapt to carriages of various widths, increases the applicable range of the carriages, and improves the loading rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 This is a schematic diagram of the box-type material automatic loading machine of the present invention operating in a carriage; Figure 2 This is a schematic diagram of the box-type material automatic loader with load of the present invention; Figure 3 This is a schematic diagram of the empty box-type material automatic loader of the present invention; Figure 4 This is a schematic diagram of the main structure of the box-type material automatic loading machine of the present invention; Figure 5 It is a schematic structural diagram of the gantry type walking mechanism of the present invention.

[0012] Figure 6 Structure diagram of the steering wheel assembly of the present application.

[0013] Figure 7 Structure diagram of the auxiliary wheel assembly.

[0014] Figure 8 Structure diagram of the climbing conveying assembly of the present application.

[0015] Figure 9 Structure diagram of the box carriage stacking posture of the present application. Figure 10 Structure diagram of the parallel box posture adjusting device of the present application. Figure 11 Structure diagram of the first posture A adjustment of the parallel box posture adjusting device of the present application. Figure 12 Structure diagram of the right roller conveying assembly of the present application. Figure 13 Structure diagram of the overturning assembly of the present application. Figure 14 Structure diagram of the two states before and after the overturning assembly overturns in the embodiment of the present application. Figure 15 Structure diagram of the balance wheel reversing assembly of the present application. Figure 16 Structure diagram of the second posture B adjustment of the parallel box posture adjusting device of the present application. Figure 17 Structure diagram of the front roller conveying assembly of the present application. Figure 18 Structure diagram of the two states before and after the turnover fork assembly overturns the box carriage in the embodiment of the present application. Figure 19 Structure diagram of the push plate assembly and the turnover fork assembly of the present application. Figure 20 Structure diagram of the third posture C adjustment of the parallel box posture adjusting device of the present application. Figure 21 Structure diagram of the front blocking assembly of the present application. Figure 22 Structure diagram of the box pushing assembly of the present application. Figure 23 Structure diagram of the second posture C adjustment of the parallel box posture adjusting device of the present application. Figure 24 Structure diagram of the front end and the buffer mechanism of the parallel box posture adjusting device of the present application. Figure 25 It is the structure schematic view of left and right push plate assembly in the buffer mechanism of the application; Figure 26 It is the structure schematic view of the lifting and stacking mechanism of the application; Figure 27 It is the process schematic view of discharging and stacking of the lifting and stacking mechanism of the application.

[0016] Reference signs: 1, gantry walking mechanism; 2, climbing conveying assembly; 3, parallel box multi-pose adjusting device; 4, buffer mechanism; 5, lifting and stacking mechanism; 6, control assembly; 7, human-computer interaction assembly; 8, laser radar space recognition assembly; 100, box material; 200, telescopic chain belt conveyor; 300, truck; 11, frame assembly; 12, rudder wheel assembly; 13, auxiliary wheel assembly; 121, first support frame; 122, walking motor; 123, first walking wheel; 124, steering motor; 125, first linear guide rail; 126, first sliding block; 127, first gear; 128, first rack; 129, first lifting motor; 131, second support frame; 132, second walking wheel; 133, second linear guide rail; 134, second sliding block; 135, second gear; 136, second rack; 137, second lifting motor; 201, first speed reducer motor; 202, first support; 203, T-shaped bearing; 204, synchronous belt; 205, second driving shaft; 206, synchronous pulley; 207, second support; 208, second speed reducer motor; 209, crank; 210, pull rod; 211, third support; 212, baffle rod; 213, connecting plate; 214, passive shaft; 215, side support plate; 301, rear roller conveying assembly; 302, right roller conveying assembly; 303, fork rotating assembly; 304, electric cylinder assembly; 305, first roller conveying assembly; 306, turnover fork assembly; 307, first push plate assembly; 308, front blocking assembly; 310, left roller conveying assembly; 311, box pushing assembly; 312, rear blocking assembly; 313, balance wheel reversing assembly; 30201, first roller support; 30202, first electric roller; 30203, second roller support; 30204, second roller; 30205, third roller support; 30206, laser ranging support; 30207, first multi-wedge belt; 30208, constraint roller; 30209, laser range finder; 30210, second electric roller; 30211, first roller; 3031, L-shaped fork; 3032, first bearing seat; 3041, second bearing seat; 3042, servo motor; 3043, electric cylinder; 3051, fourth roller support; 3052, third roller; 3053, fifth roller support; 3054, third motorized roller; 3055, second multi-V belt; 30601, fourth bracket; 30602, third gear; 30603, fifth bracket; 30604, third reduction motor; 30605, shaft; 30606, fourth reduction motor; 30607, sixth bracket; 30608, fourth gear; 30609, fifth gear; 30610, third bearing seat; 30611, flip bracket; 3071, third rack; 3072, sixth gear; 3073, first slide rail; 3074, seventh bracket; 3075, fifth reduction motor; 3076, first push plate; 3077, eighth bracket; 3081, second slide rail; 3082, V-shaped bracket; 3083, U-shaped bracket; 3084, limit bracket; 3085, ninth bracket; 3086, lead screw stepper motor; 3087, tenth bracket; 3111, third slide rail; 3112, eleventh bracket; 3113, shift plate; 3114, twelfth bracket; 3115, guide roller; 3116, fifth gear; 3117, sixth reduction motor; 3118, fourth rack; 3131, balance wheel; 3132, cover; 31311, driving roller; 41. Second roller conveying assembly; 42. Right push plate assembly; 43. Cache blocking assembly; 44. Left push plate assembly; 441, fifth rack; 442, eighth gear; 443, fourth slide rail; 444, thirteenth bracket; 445, seventh reduction motor; 446, second push plate; 447, bracket; 51. Left two-stage lifting assembly; 52. Right two-stage lifting assembly; 53. Right width adjustment assembly; 54. Palletizing platform assembly; 55. Chain reciprocating box assembly; 56. Material box blocking assembly; 57. Box pushing assembly; 58. Left width adjustment assembly; 5505. Third push plate; P1, first horizontal path; P2, second horizontal path; P3, third horizontal path; P4, fourth horizontal path. DETAILED DESCRIPTION

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0018] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; 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 internal connection of two elements or the interaction relationship between two elements.

[0019] In the present invention, unless otherwise expressly specified and limited, a first feature being "above" or "below" a 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, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is at a lower level than the second feature. In the description of this embodiment, the terms "above," "below," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are intended only to facilitate description and simplify operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] Figure 1 This is a schematic diagram of the box-type material automatic loading machine of the present invention operating in a carriage. Figure 2 This is a schematic diagram of the box-type material automatic loader with load, Figure 3 This is a schematic diagram of the empty box-type material automatic loader of the present invention. Figure 4 It is a schematic diagram of the main structure of the box-type material automatic loading machine of the present invention.

[0021] In order to make the present invention more clearly described, Figure 4 As shown in , the material input end of the box-type material automatic loader is defined as the rear end, the material output end is defined as the front end, and the horizontal direction perpendicular to the front-to-back direction is defined as the left-right direction.

[0022] like Figures 1 to 4 As shown in the figure, the automatic box-type material loader provided by the present invention includes: a gantry walking mechanism 1, a climbing conveying component 2, a parallel box multi-posture adjustment device 3, a cache mechanism 4, a lifting and stacking mechanism 5, a control component 6, a human-computer interaction component 7, and a laser radar space recognition component 8.

[0023] Among them, the gantry-type walking mechanism 1 includes a gantry-type frame assembly 11 and multiple sets of running wheels installed at the bottom of the frame assembly 11; each set of running wheels is used for running on a horizontal plane, and is configured to move back and forth in a vertical direction and can cross high and low steps.

[0024] The climbing conveying component 2 is arranged at the rear end of the parallel box posture adjustment device 3, and its front end is rotatably connected to the gantry walking mechanism 1. The climbing conveying component 2 is configured to: rotate up and down around the connection position between it and the gantry walking mechanism 1 in a vertical plane, so that its rear end can swing to different heights and dock with the telescopic chain conveyor 200 from the warehouse; the climbing conveying component is used to continuously input the box materials output by the telescopic chain conveyor 200 into the parallel box posture adjustment device 3 along the first horizontal path P1.

[0025] The parallel box multi-position adjustment device 3 has a material position adjustment function and is mounted on the gantry-type traveling mechanism 1. The parallel box multi-position adjustment device 3 is configured to sequentially divert box-shaped materials continuously fed along the first horizontal path to the second and third horizontal paths for transport, and to concurrently perform a first position adjustment on the box-shaped materials in their original positions transported along the second and third horizontal paths, thereby obtaining box-shaped materials in the first position. Preferably, the parallel box multi-position adjustment device 3 provided by the present invention can adjust materials into four positions.

[0026] The buffer mechanism 4 has conveying and buffering functions. It is installed on the gantry walking mechanism 1 and is arranged at the front end of the parallel box posture adjustment device 3. It is used to directly output multiple box-type materials continuously output by the parallel box posture adjustment device 3 or to buffer multiple box-type materials and then output them together.

[0027] The lifting and stacking mechanism 5 is mounted on the gantry-type traveling mechanism 1 and disposed at the front end of the buffer mechanism 4. It is used to arrange the multiple box-type materials discharged from the buffer mechanism 4 into rows along a first direction and then stack them into the vehicle compartment. Furthermore, the lifting and stacking mechanism 5 has a lifting function, allowing it to dock with the buffer mechanism 4 to receive materials or to lift them to different heights for stacking. Preferably, the first direction is the width (left-right) of the automatic box-type material loader.

[0028] The control component 6 is respectively connected to the gantry walking mechanism 1, the climbing conveying component 2, the parallel box multi-posture adjustment device 3, the buffer mechanism 4, the lifting and stacking mechanism 5, the human-computer interaction component 7, and the laser radar space recognition component 8 to control each component.

[0029] The human-computer interaction component 7 can perform human-computer interaction.

[0030] The laser radar space recognition component 8 can identify the three-dimensional space and obstacles near the box-type material automatic loader.

[0031] Figures 1 to 4 The process flow of box-type material loading of the box-type material automatic loading machine shown in the figure is: Step 1: The automatic box-type material loader automatically navigates to the front of the truck 300 according to the instructions. The telescopic chain conveyor 200 transports the box-type material 100 from the warehouse to the rear end of the automatic box-type material loader. During this process, if there is a gooseneck step inside the truck 300, the gantry-type walking mechanism 1 of the automatic box-type material loader will cross the step forward and backward to maintain the material conveying surface of the loader level. Step 2: The rear end of the climbing conveyor assembly 2 rotates to the output plane height of the telescopic chain conveyor 200, docks with the telescopic chain conveyor 200, and the climbing conveyor assembly 2 receives the material; Step 3: The parallel box multi-posture adjustment device 3 adjusts the posture of the box-shaped material 100 output by the climbing conveying component 2; Step 4: The buffer mechanism 4 conveys or buffers the box-shaped material 100 outputted by the parallel box multi-posture adjustment device 3 before conveying it; Step 5: The stacking platform of the lifting and stacking mechanism 5 is lifted to the exit plane of the buffer mechanism 4 to receive the materials. The lifting and stacking mechanism 5 arranges the input multiple box-type materials 100 into rows along the first direction, and then the lifting and stacking mechanism 5 lifts the entire row of materials onto the stacking surface at one time, and pushes the entire row of materials forward into the carriage for stacking at one time, completing the loading task.

[0032] The following describes in detail the structures and working principles of the gantry walking mechanism 1, the climbing conveying assembly 2, the parallel box multi-posture adjustment device 3, the buffer mechanism 4, and the lifting and stacking mechanism 5 of the box-type material automatic loader provided by the present invention.

[0033] Gantry type walking mechanism 1: The gantry type walking mechanism 1 of the present invention can be a crawler type or a wheel type. Figure 5As shown in , in this embodiment, the gantry-type traveling mechanism 1 is preferably wheeled, and each set of traveling wheels can be raised and lowered, and each set of traveling wheels is mainly composed of a steering wheel assembly 12 and an auxiliary wheel assembly 13. Each steering wheel assembly 12 has the functions of lifting, walking and steering; each auxiliary wheel assembly 13 has the function of lifting. A steering wheel assembly 12 and an auxiliary wheel assembly 13 form a group, and they cooperate with each other to cross the steps, that is, when the auxiliary wheel assembly 13 needs to be raised to the step, the steering wheel assembly 12 at the rear will temporarily play a supporting role. When the auxiliary wheel assembly 13 is on the step and is subjected to force, the steering wheel assembly 12 at the rear will use the same method to go up the step. Preferably, the gantry-type traveling mechanism 1 includes a total of four sets of traveling wheels fixed to the lower part of the frame assembly 11 to complete the action of stepping up or down the steps while keeping the gantry-type traveling mechanism 1 horizontal.

[0034] Preferably, if Figure 6 As shown, the steering wheel assembly 12 on the gantry travel mechanism 1 is composed of a first support frame 121, a travel motor 122, a first travel wheel 123, a steering motor 124, a first linear guide 125, a first slider 126, a first gear 127, a first rack 128 and a first lifting motor 129. The travel motor 122, the steering motor 124, the first slider 126 and the first rack 128 are respectively connected to the first support frame 121, the travel motor 122 and the steering motor 124 are respectively connected to the first travel wheel 123, the first linear guide 125 is fixedly connected to the frame assembly 11, the first slider 126 is slidably connected to the first linear guide 125, the first rack 128 is gear-engaged with the first gear 127, the first lifting motor 129 is connected to the first gear 127, and the first gear 127 is connected to the first slider 126. When the gantry travel mechanism 1 needs to move forward, the travel motor 122 drives the first travel wheel 123 to roll forward. When the gantry travel mechanism 1 needs to turn, the steering motor 124 drives the first travel wheel 123 to turn. When the gantry travel mechanism 1 needs to ascend a step, the first lifting motor 129 drives the first gear 127 to rise relative to the first rack 128, thereby driving the first slider 126 to move upward along the first linear guide 125, raising the first travel wheel 123 connected to the first slider 126 via the travel motor 122 and the first support frame 121. When the gantry travel mechanism 1 needs to descend a step, the first lifting motor 129 drives the first gear 127 and the first rack 128 to lower the first travel wheel 123. In this way, the steering wheel assembly 12 can have the functions of lifting, traveling, and steering.

[0035] Preferably, if Figure 7As shown, the auxiliary wheel assembly 13 on the gantry-type walking mechanism 1 consists of a second support frame 131, a second running wheel 132, a second linear guide 133, a second slider 134, a second gear 135, a second rack 136, and a second lifting motor 137. The second running wheel 132 and the second slider 134 are respectively connected to the second support frame 131. The second linear guide 133 is fixedly connected to the frame assembly 11. The second slider 134 is slidably connected to the second linear guide 133. The second gear 135 is gear-engaged with the second rack 136. The second gear 135 is connected to the second slider 134, and the second lifting motor 137 is connected to the second gear 135. When the steering wheel assembly 12 is raised or lowered onto a step, the auxiliary wheel assembly 13 provides auxiliary support. Similarly, when the auxiliary wheel assembly 13 needs to move forward or downward on a step, the second lifting motor 137 drives the second gear 135 and the second rack 136 to raise and lower the second running wheel 132, thereby achieving the movement of ascending or descending the step. The auxiliary wheel assembly 13 has a lifting function.

[0036] Climbing component 2: Figure 8 This is a schematic structural diagram of the climbing conveying assembly of the present invention, preferably, as Figure 8 As shown in the figure, the climbing conveying assembly 2 includes: a first reduction motor 201, a first bracket 202, a T-bearing 203, a synchronous belt 204, a second drive shaft 205, a synchronous pulley 206, a second bracket 207, a second reduction motor 208, a crank 209, a pull rod 210, a third bracket 211, a side guard rod 212, a connecting plate 213, a driven shaft 214, and a side support plate 215.

[0037] The first bracket 202 and the T-shaped bearing 203 are fixedly mounted on the rear end of the frame assembly 11 of the gantry-type traveling mechanism; The first reduction motor 201 is fixedly mounted on the first bracket 202; The left and right ends of the second drive shaft 205 pass through two T-shaped bearings 203, and one end of the second drive shaft 205 is fixedly connected to the output shaft of the first reduction motor 201 through a coupling; a plurality of synchronous pulleys 206 are fixedly connected to the second drive shaft 205; There are two side support plates 215 , and the front ends of the two side support plates 215 are rotatably mounted on the left and right sides of the second drive shaft 205 ; The connecting plate 213 is located in the middle of the two side support plates 215 and connects the two side support plates 215 into a whole; The left and right ends of the driven shaft 214 are rotatably mounted on the rear ends of the left and right side support plates 215. A plurality of synchronous pulleys 206 are fixedly connected to the driven shaft 214. The synchronous pulleys 206 on the second drive shaft 205 and the synchronous pulleys 206 on the driven shaft 214 are connected by a synchronous belt 204. There are two side guard rods 212, which are symmetrically fixed on the left and right sides of the connecting plate 213. The second bracket 207 is fixedly mounted on the rear end of the frame assembly 11 of the gantry-type walking mechanism; The third bracket 211 is fixedly mounted on the left or right side support plate 215; The second reduction motor 208 is fixedly mounted on the second bracket 207; One end of the crank 209 is fixedly mounted on the output shaft of the second reduction motor 208; one end of the pull rod 210 is rotatably connected to the other end of the crank 209, and the other end of the pull rod 210 is rotatably connected to the third bracket 211; the crank 209, the pull rod 210 and the side support plate 215 connected to the pull rod 210 form a four-bar linkage.

[0038] In these embodiments, the first reduction motor 201 drives the second drive shaft 205 to rotate, and the second drive shaft 205 drives the multiple synchronous pulleys 206 thereon to rotate. In this way, the synchronous belt mechanism composed of the synchronous belt 204 and the synchronous pulleys 206 can realize the conveyance of the material 1. The second reduction motor 208 drives the crank 209 to rotate, thereby driving the rear side of the conveying unit to rotate up and down around the second drive shaft 205 in a vertical plane. Therefore, it can be docked with telescopic chain conveyors 200 of various heights and is suitable for truck compartments of various heights. It can flexibly dock the telescopic chain conveyor 200 with the automatic loading machine in the compartment, which has strong applicability, can reduce the cost of modifying the telescopic chain conveyor 200, and reduce the size requirements of the cargo-hauling vehicle.

[0039] Preferably, the two side guard rods 212 of the climbing conveying assembly 2 are arranged in an "eight" shape, so that even if the output end of the telescopic machine 2 deviates to the left or right relative to the climbing conveying assembly 5, the conveying direction of the input box-type material 100 can be continuously adjusted by the two side guard rods 212 in the eight shape during the conveying process, thereby increasing the docking range of the climbing conveying assembly 5 and being able to adapt to a larger range of left and right deviations of the telescopic machine end.

[0040] Parallel box multi-posture adjustment device 3: In order to improve the loading rate of the carriage, box materials need to be adjusted into various postures during loading, such as Figure 9 Among the loading postures A, B, and C shown in the figure, in actual application, posture B requires the largest number, followed by posture A, and posture C requires the least number and is only required for the top layer of palletizing.

[0041] Figure 10It is a structural schematic diagram of the parallel box posture adjustment device of the present invention, wherein the material input and output direction of the parallel box multi-posture adjustment device pointed to by the arrow Y is the front-to-back direction, the horizontal direction perpendicular to the front-to-back direction pointed to by the arrow X is the left-to-right direction, the dotted arrow P1 represents the first horizontal path, P2 represents the second horizontal path, and P3 represents the third horizontal path.

[0042] In other embodiments, the parallel box posture adjustment device provided by the present invention has at least three parallel posture adjustment paths, preferably, for example Figure 10 The dotted arrow P4 in the middle represents the fourth horizontal path. The parallel box posture adjustment device will also divert the box materials continuously input along the first horizontal path to the fourth horizontal path P4 for transportation, and perform posture adjustment on the box materials simultaneously and in parallel on the second horizontal path P2, the third horizontal path P3, and the fourth horizontal path P4. The posture adjustment of the box materials in the original posture on the fourth horizontal path P4 is different from the first posture adjustment made on the second horizontal path P2 and the third horizontal path P3. The fourth horizontal path can be on the front extension line of the first horizontal path or not on the front extension line of the first horizontal path. It is only necessary to keep the posture adjustment work of the fourth horizontal path in parallel with that of the second horizontal path and the third horizontal path. Preferably, as Figure 10 As shown in , the fourth horizontal path P4 is located on the front extension line of the first horizontal path P1 and between the second horizontal path P2 and the third horizontal path P3. This can fully utilize the space, improve the structural compactness of the entire parallel box posture adjustment device, reduce the size of the device, and is more conducive to using the automatic loader provided by the present invention in a limited compartment space; in addition, the fourth horizontal path P4 is on the front extension line of the first horizontal path P1, and the box-type materials input by the first horizontal path P1 can be directly input into the fourth horizontal path P4 without turning, which can further save the time of material transportation. In this embodiment, the number of parallel posture adjustment paths is set to 3, and a horizontal arrangement is adopted in the plane. Two of the paths are used to achieve the posture adjustment requirements of box-type materials with a large number of stacking requirements, and the remaining path is used to achieve other less commonly used posture adjustment functions or posture adjustment functions that can be completed in a relatively fast time. The complexity of the mixed posture box-type materials required for downstream stacking is achieved by minimizing the parallel processing capacity, which can significantly improve the adjustment efficiency of multi-posture box-type materials.

[0043] like Figure 10 As shown in , the parallel box posture adjustment device provided by the embodiment of the present invention includes: a rear roller conveying assembly 301, a right roller conveying assembly 302, a left roller conveying assembly 310, a box shifting assembly 311, and a flipping assembly.

[0044] The left roller conveying assembly 310 and the right roller conveying assembly 302 each have two rows of rollers in the same horizontal plane, the first row of rollers of the left roller conveying assembly 310 and the right roller conveying assembly 302 are symmetrically arranged on the left and right sides of the roller conveying direction of the rear roller conveying assembly 301, the conveying surfaces of the rear roller conveying assembly 301, the left roller conveying assembly 310 and the right roller conveying assembly 302 are coplanar, and the axial directions of the rollers of the left roller conveying assembly 310 and the right roller conveying assembly 302 are perpendicular to the axial direction of the rollers of the rear roller conveying assembly.

[0045] The box pushing assembly 311 includes a box pushing plate 3113 arranged above the conveying surface of the rear roller conveying assembly 302 (see Figure 22 ), and the box pushing assembly 311 is configured to reciprocate the box pushing plate 3113 in the left-right direction to sequentially push the box materials continuously input into the rear roller conveying assembly 301 along the first horizontal path P1 to the first row of rollers of the left roller conveying assembly 310 on the second horizontal path P2 and the right roller conveying assembly 302 on the third horizontal path P3.

[0046] The left roller conveying assembly 310 and the right roller conveying assembly 302 each have two rows of rollers in the same horizontal plane, the first row of rollers of the left roller conveying assembly 310 and the right roller conveying assembly 302 are symmetrically arranged on the left and right sides of the roller conveying direction of the rear roller conveying assembly 301, the conveying surfaces of the rear roller conveying assembly 301, the left roller conveying assembly 310 and the right roller conveying assembly 302 are coplanar, and the axial directions of the rollers of the left roller conveying assembly 310 and the right roller conveying assembly 302 are perpendicular to the axial direction of the rollers of the rear roller conveying assembly.

[0047] Figure 11 A schematic view of the parallel box posture adjustment device of the present application for adjusting the first posture A of the box materials, and the posture adjustment process is as follows: S11: The rear roller conveying assembly 301 conveys the Nth box material 100 to a predetermined position and stops, at this time, the turnover assembly is standby below the conveying surface of the first row of rollers of the right roller conveying assembly 302; wherein N is a positive integer, indicating the serial number of the currently input box material 100; Preferably, as shown in Figure 10 The device provided by the embodiment of the present application can further include a rear blocking assembly 312 arranged at the output end of the rear roller conveying assembly 301 for stopping and positioning the box material 100 conveyed forward on the rear roller conveying assembly 301, and after the Nth box material 100 is stopped by the rear blocking assembly 312, step S12 is performed.

[0048] S12: The box shifting assembly 311 shifts the Nth box-type material 100 to the right onto the first row of rollers of the right roller conveying assembly 302 (on the third horizontal path P3), and at the same time, the N+1th box-type material 100 is conveyed to a predetermined position by the rear roller conveying assembly 1 and stops.

[0049] S13: The right flipping assembly flips the Nth box-type material on the first row of rollers of the right roller conveying assembly 302 forward 90°, and the Nth box-type material 100 is transferred to the second row of rollers of the right roller conveying assembly 302. The Nth box-type material 14 is adjusted from its initial posture at the time of input to posture A; During this process, the box shifting assembly 311 shifts the N+1th box-type material 100 to the left onto the first row of rollers of the left roller conveying assembly 310 (on the second horizontal path P2), and at the same time, the N+2th box-type material 100 is conveyed to the predetermined position by the rear roller conveying assembly 301 and stops.

[0050] S14: The second row of rollers of the right roller conveying assembly 302 outputs the Nth box-shaped material 100 toward the middle (between the right roller conveying assembly 302 and the second row of rollers of the left roller conveying assembly 310); At the same time, the flip assembly on the left flips the N+1th box-type material on the first row of rollers of the left roller conveyor assembly 310 forward 90°, and the N+1th box-type material 100 is transferred to the second row of rollers of the left roller conveyor assembly 310. The N+1th box-type material 100 is adjusted from its initial posture at the time of input to posture A. During this process, the box shifting assembly 311 shifts the N+2th box-type material 100 to the right onto the first row of rollers of the right roller conveying assembly 302, and at the same time, the N+3th box-type material 100 is conveyed to a predetermined position by the rear roller conveying assembly 1 and stops.

[0051] S15: The second row of rollers of the left roller conveyor assembly 10 delivers the N+1th box-shaped material 100 to the middle. At the same time, the flip assembly on the right performs an action similar to that described in S12 on the N+2th box-shaped material 100. The box-shifting assembly 311 shifts the N+3th box-shaped material 100, and this process continues... As described in steps S11-S15, the parallel box multi-posture adjustment device 3 provided by the embodiment of the present invention can achieve the first posture adjustment of the box material without interrupting the conveying process, and the reciprocating left and right movement of the box assembly 311 will move the newly input box material 100. All movements of the box assembly 311 are working strokes, and there is no time waste. On the second and third horizontal paths on the left and right sides, the flipping assembly flips the box material 100 respectively, and the parallel operations do not interfere with each other. This structural design and material conveying control process greatly improves the posture adjustment speed of the box material and improves the efficiency of the posture adjustment operation.

[0052] Figure 12 It is a structural diagram of the right roller conveying assembly of the present invention, as shown in FIG. Figure 12 As shown in the figure, the right roller conveying assembly 302 includes: a first roller bracket 30201, a first motorized roller 30202, a second roller bracket 30203, a second roller 30204, a third roller bracket 30205, a laser ranging bracket 30206, a first multi-V belt 30207, a constraint roller 30208, a laser rangefinder 30209; a second motorized roller 30210, and a first roller 30211.

[0053] Among them, the first roller bracket 30201, the second roller bracket 30203, and the third roller bracket 30205 are fixedly installed in the same horizontal plane along the front-to-back direction, and the second roller bracket 30203 is located between the first roller bracket 30201 and the third roller bracket 30205; the first roller bracket 30201, the second roller bracket 30203 and the third roller bracket 30205 are fixedly connected Figure 12The first motorized rollers 30202 and 30211 are fixedly connected to the first roller support 30201 at one axial end and to the second roller support 30203 at the other end, forming a first row of rollers. The first motorized rollers 30202 and 30211 are connected via a first poly-V belt 30207, with the first motorized roller 30202 driving the first roller 30211. The second rollers 30204 and 30210 are fixedly connected to the second roller support 30203 at one axial end and to the third roller support 30205 at the other end, forming a second row of rollers. The second rollers 30204 and 30210 are connected via a first poly-V belt 30207, with the second motorized rollers 30210 driving the plurality of second rollers 30204. The restraining roller 30208 is movably connected to the third roller bracket 30205, near the conveying centerline of the rear roller conveyor assembly 301. The restraining roller 30208 is rotatable about its vertical axis. The position of the restraining roller 30208 can be adjusted to achieve optimal movement restraint for the box-like material. The laser rangefinder bracket 30206 is movably connected to the third roller bracket 30205, and the laser rangefinder 30209 is fixedly connected to the laser rangefinder bracket 30206. The detection direction of the laser rangefinder 30209 can be adjusted to achieve optimal detection of the box-like material's movement.

[0054] Combine Figure 10 Since the left roller conveying assembly 310 and the right roller conveying assembly 302 are symmetrical, it is obvious that the structure of the left roller conveying assembly 310 can be Figure 12 The structure of the right roller conveying assembly 302 shown can be obtained by mirroring the left and right sides, and will not be described again here.

[0055] In this embodiment, when the box-type material 100 is pushed to the right by the box-type assembly 311, the first row of rollers of the right roller conveying assembly 302 can be driven to rotate clockwise when viewed in the input direction, and the first row of rollers conveys to the right, so that the box-type material 100 can continue to be conveyed to the right to the designated position when it is pushed to the top, and the second row of rollers can rotate counterclockwise independently of the first row of rollers to output the material to the left. The two rows of rollers are independently controlled and can execute different material conveying steps at the same time, thereby improving the material conveying efficiency.

[0056] Figure 13 FIG. 1 is a schematic diagram of the structure of the flip assembly of the present invention, as shown in FIG. Figure 13As shown in the figure, the tilting assembly provided by the present invention may include a fork frame rotation assembly 303 and an electric cylinder assembly 304. The fork frame rotation assembly 303 includes an L-shaped fork frame 3031 and two first bearing blocks 3032. The left and right ends of the turning point of the L-shaped fork frame 3031 are rotatably connected to the two first bearing blocks 3032. The two first bearing blocks 3032 are fixedly connected to the frame assembly 11 of the gantry-type traveling mechanism 1 (not shown in the figure), specifically, mounted on the frame between the first and second rows of rollers of the left roller conveyor assembly 310 and the right roller conveyor assembly 302. The electric cylinder assembly 304 includes a second bearing seat 3401, a servo motor 3042, and an electric cylinder 3043; the second bearing seat 3041 is fixedly installed below the left roller conveying assembly 310 and the right roller conveying assembly 302; one end of the electric cylinder 3043 is rotatably connected to the second bearing seat 3041, and the other end is rotatably connected to the L-shaped fork frame 3031; the servo motor 3042 is fixedly connected to the electric cylinder 3043, and the servo motor 3042 is used to drive the electric cylinder 3043 to extend and retract; among them, the electric cylinder 3043 can also be other devices that can achieve extension and retraction, such as a cylinder. The projection position of the fork tines of the L-shaped fork frame 3031 in the horizontal plane corresponds to the roller gap of the left roller conveying assembly 310 / right roller conveying assembly 302, and the fork frame rotation assembly 303 is configured as follows: before the box shifting assembly 311 shifts the box-type material to the first row of rollers of the left roller conveying assembly 310 / right roller conveying assembly 302, one side of the fork frame of the L-shaped fork frame 3031 is located under the first row of rollers, and after the box shifting assembly 311 shifts the box-type material to the first row of rollers of the left roller conveying assembly 310 / right roller conveying assembly 302, the L-shaped fork frame 3031 rotates around the axis of the first bearing seat 3032 until the other side of the fork frame of the L-shaped fork frame 3031 is placed under the second row of rollers of the left roller conveying assembly 310 / right roller conveying assembly 302.

[0057] Figure 14 Schematic diagram of two states of the flip assembly before and after flipping in the embodiment of the present invention. Figure 14 The two states in the fork are defined as the 0° state and the 90° state. When the electric cylinder 3043 is extended under the drive of the servo motor 3042, the fork rotating assembly 303 is in Figure 6 In the 0° state shown on the left side of the middle, one side of the L-shaped fork 3031 is embedded between the first row of rollers of the left / right roller conveyor assembly; when the electric cylinder 3043 is retracted under the drive of the servo motor 3042, the L-shaped fork 3031 rotates around the axis of the first bearing seat 3032 and finally rotates to Figure 14In the 90° position shown on the right side of the middle, the other side of the L-shaped fork 3031 is embedded between the second row of rollers of the left / right roller conveyor assembly. When the fork rotating assembly 303 switches from the 0° position to the 90° position, the box-shaped material 100 can be flipped 90° forward and backward.

[0058] In some embodiments, as Figure 10 As shown in , the parallel box posture adjustment device 3 provided by the present invention can also include: a balance wheel reversing component 313, which is arranged on the output side of the rear roller conveying component 301 and is located between the second row of rollers of the left roller conveying component 310 and the right roller conveying component 302.

[0059] Figure 15 FIG. 1 is a structural diagram of the balance wheel reversing assembly of the present invention, as shown in FIG. Figure 15 As shown in the figure, the balance wheel reversing assembly 313 includes a plurality of balance wheels 3131 and a housing 3132; the balance wheels 3131 and the housing 3132 are fixedly connected to the frame of the parallel type box posture adjustment device (not shown in the figure). Preferably, the plurality of balance wheels 3131 are arranged in an array. The rotation axis of the balance wheel 3131 is along the vertical direction, and the balance wheel 3131 can rotate along its rotation axis. Figure 7 The top surface of the balance wheel 3131 is provided with a plurality of drive rollers 31311 along the horizontal axis. The drive rollers 31311 on each balance wheel 3131 can rotate in the same direction around their axis. Figure 15 The b direction shown in FIG is positive or reverse rotation.

[0060] The pendulum wheel reversing assembly 313 is used to cooperate with the second row of rollers of the left roller conveyor assembly 310 / the right roller conveyor assembly 302 to divert the box-type materials in the first posture on the second horizontal path P2 or the third horizontal path P3 to the fourth horizontal path P4 for forward conveyance. Alternatively, the second row of rollers of the left roller conveyor assembly 310 / the right roller conveyor assembly 302 is used to simultaneously provide rightward / leftward speed to the box-type materials in the first posture on the second horizontal path P2 or the third horizontal path P3 while also providing forward speed to the box-type materials in the first posture, so that the box-type materials in the first posture are horizontally turned 90° during the process of diverting to the fourth horizontal path P4, thereby achieving a second posture adjustment of the box-type materials. Obviously, the configuration of the pendulum wheel reversing assembly 313, through the synthesis of speeds, allows the box-type materials to naturally turn during conveyance. This posture adjustment method does not require the addition of a complex posture adjustment mechanism, saves cost and space, and can be achieved without stopping the conveyance of the box-type materials. This can further improve the efficiency of posture adjustment and material conveying, indirectly improving the efficiency of palletizing the box-type materials.

[0061] For the convenience of description below, the driving roller 31311 is Figure 15The positive rotation in the direction b is defined as the positive rotation of the driving roller 31311. Figure 15 The reverse rotation in direction b is defined as the reverse rotation of the driving roller 31311.

[0062] In the embodiment of the present invention, when the parallel box posture adjustment device 3 includes a balance wheel reversing component 13, the above S11 to S15 described Figure 11 In the posture A adjustment process shown in FIG. 1 , in S14, before the second row of rollers of the right roller conveying assembly 302 outputs the Nth box-shaped material 14 to the balance wheel reversing assembly 313, Figure 11 The balance wheel reversing assembly 313 in Figure 15 In the initial state shown, after rotating 90° counterclockwise in direction a, the driving roller 31311 is controlled to rotate forward, so that the driving roller 31311 and the second row of rollers of the right roller conveyor assembly 302 have the same output direction, and are ready to participate in the conveyance of the box-shaped material 100 from right to left. Similarly, in S15, before the second row of rollers of the left roller conveyor assembly 310 outputs the N+1th box-shaped material 100 to the center and onto the swing wheel reversing assembly 313, Figure 11 The balance wheel reversing assembly 313 in Figure 15 In the initial state shown, the system rotates 90° clockwise in direction a, and the drive roller 31311 rotates forward, aligning its output direction with the second row of rollers in the left roller conveyor assembly 310, thereby preparing to participate in the conveyance of the box-shaped material 100 from left to right. Subsequently, when the second row of rollers in the right roller conveyor assembly 302 and the pendulum reversing assembly 313 deliver the box-shaped material 100 in position A to the center of the pendulum reversing assembly 313, the following steps are further included after step S14: S16: The balance wheel reversing assembly 313 rotates back quickly Figure 15 The initial state shown; During this process, the driving roller 31311 is in a stationary state and does not move, and will not drive the box-type material 100 on the upper part of the balance wheel reversing component 313 .

[0063] S17: The balance wheel reversing assembly 313 drives the roller 31311 to rotate forward, and outputs the box-shaped material 100 in posture A forward.

[0064] The following takes the box-type material conveyed to the right roller conveying assembly 302 as an example to specifically describe the process of adjusting the box-type material to the second posture B during the conveying process using the parallel box posture adjustment device 3 provided by the present invention.

[0065] Figure 16 This is a schematic diagram of the parallel box posture adjustment device of the present invention performing a second posture B adjustment on box-type materials. The posture adjustment process is as follows: S21: The rear roller conveyor assembly 301 conveys the box-shaped material 100 in the initial posture forward to a predetermined position and stops. At this time, one side of the L-shaped fork 301 is embedded between the first row of rollers of the right roller conveyor assembly 302; The box-type material 100 conveyed by the rear roller conveying assembly 301 can also be stopped at a predetermined position by the rear blocking assembly 312 . Before step S21 , the rear blocking assembly 312 is raised in advance to prepare for blocking the material.

[0066] S22 : The box-moving assembly 311 moves the box-shaped material 100 in the initial posture rightward to the first row of rollers of the right roller conveying assembly 302 .

[0067] S23: The fork rotating assembly 303 is pulled by the right electric cylinder assembly 304 to flip the box-type material 100 in the initial posture forward 90° to obtain the box-type material 100 in posture A. The box-type material 100 in posture A is transferred to the second row of rollers of the right roller conveying assembly 302.

[0068] S24: The second row of rollers of the right roller conveying assembly 302 conveys the box-shaped material 100 in posture A to the left at a speed V1. At the same time, the balance wheel reversing assembly 313 maintains Figure 7 The initial state is in the middle, and the driving roller 31311 is controlled to rotate forward at a speed of V2. During this process, the left end of the box-type material 100 in posture A gradually rotates to the right under the combined action of the speeds V1 and V2. At the same time, under the combined action of the constraint roller 30208, the box-type material 100 in posture A finally rotates horizontally 90° during the conveying process and becomes the box-type material 100 in posture B for output.

[0069] Obviously, for the box-type material 100 conveyed by the right roller conveying assembly 302, after step S24, the box-type material 100 in posture B will be output to the right side of the swing wheel reversing assembly 313; if in step S24 the second row of rollers of the left roller conveying assembly 310 conveys the box-type material 100 in posture A to the right at speed V1', then the swing wheel reversing assembly 13 also maintains Figure 7 In the initial state, the driving roller 31311 is controlled to rotate forward at a speed V2. After step S24, the box-type material 100 in posture B will be output from the left side of the balance wheel reversing component 13, which will not be repeated here.

[0070] It can be seen from the above process steps S21 to S24 that the present invention completes the adjustment from posture A to posture B during the conveying process through speed synthesis. The beneficial effects are: continuous posture adjustment of box-type materials is completed during transportation, and the material conveying and posture adjustment efficiency is high, which solves the problem of cumbersome posture adjustment technology in the prior art, only a single posture adjustment of the box can be achieved at each moment, and the posture adjustment operation efficiency is low.

[0071] In some embodiments, as shown in Figure 10 The parallel box posture adjusting device 3 provided by the application further comprises a first roller conveying assembly 305 arranged at the output side of the balance wheel reversing assembly 313. The first roller conveying assembly 305 is used to output the material output by the balance wheel reversing assembly 313 along the first path P1.

[0072] Figure 17 The structure diagram of the first roller conveying assembly of the application. As shown in Figure 17 The first roller conveying assembly 305 comprises a fourth roller support 3051, a plurality of third rollers 3052, a fifth roller support 3053, a third electric roller 3054 and a second multi-wedge belt 3055. The fourth roller support 3051 and the fifth roller support 3053 are fixedly connected to the frame assembly 11 of the gantry walking mechanism 1 not shown in Figure 17 The fourth roller support 3051 and the fifth roller support 3053 are fixedly installed on the left and right sides in the same horizontal plane. One end of the third roller 3052 and the third electric roller 3054 is fixedly connected to the fourth roller support 3051, and the other end is fixedly connected to the fifth roller support 3053. The third roller 3052 and the third electric roller 3054 are drivingly connected through the second multi-wedge belt 3055. The third electric roller 3054 is used to drive the plurality of third rollers 3052 to rotate, thereby realizing the conveying of the box material 100 input to the first roller conveying assembly 305.

[0073] In some embodiments, as shown in Figure 10 The parallel box posture adjusting device 3 provided by the application further comprises a turnover fork assembly 306, which is used to overturn the box material on the first roller conveying assembly 305 by 90° in the left-right direction.

[0074] Figure 18 The structure diagram of the turnover fork assembly before and after overturning the box material in the embodiment of the application. As shown in Figure 18 The turnover fork assembly 306 comprises a fourth support 30601 arranged at the lower side of the first roller conveying assembly 5, a third gear 30602, a fifth support 30603, a third reduction motor 30604, a shaft 30605, a fourth reduction motor 30606, a sixth support 30607, a fourth gear 30608, a fifth gear 30609 and two third bearing seats 30610, and a turnover support 30611 partially located above the conveying surface of the first roller conveying assembly 5.

[0075] Among them, the fifth bracket 30603 is fixedly connected to the fourth bracket 30601, the third reduction motor 30604 is fixedly connected to the fifth bracket 30603, and the third gear 30602 is fixedly connected to the end of the third reduction motor 30604; the sixth bracket 30607 is fixedly connected to the fourth bracket 30601, the fourth reduction motor 30606 is fixedly connected to the sixth bracket 30607, and the fourth gear 30608 is fixedly connected to the end of the fourth reduction motor 30606; the two third bearing seats 30 610 are respectively fixedly connected to the two ends of the fourth bracket 30601, one end of the shaft 30605 is rotatably connected to a third bearing seat 30610, and the other end is rotatably connected to another third bearing seat 30610; the fifth gear 30609 is fixedly connected to the end of the shaft 30605, and the fourth gear 30608 and the fifth gear 30609 are engaged for transmission; the flip bracket 30611 has two fork frames at 90 degrees to each other, and the connecting ends of the two fork frames are fixedly connected to the middle position of the shaft 30605.

[0076] The projection position of the fork of the flipping bracket 30611 in the horizontal plane corresponds to the roller gap of the first roller conveyor assembly 305. The tipping fork assembly 306 is configured as follows: one side of the fork of the flipping bracket 30611 is placed under the roller of the first roller conveyor assembly 305 and moved left / right to the bottom of the box-type material to be flipped. The shaft 30605 rotates to drive the flipping bracket 30611 to flip until the other side of the fork of the flipping bracket 30611 is placed under the roller of the first roller conveyor assembly 305. For the convenience of description, Figure 18 The two states of the tipping fork assembly are defined as a 0° state and a 90° state. When the fourth reduction motor 30606 drives the fourth gear 30608 to rotate, the fourth gear 30608 engages and drives the fifth gear 30609 to rotate. The fifth gear 30609 drives the shaft 30605 and the tipping bracket 30611 fixedly connected to the shaft 30605 to switch between the 0° state and the 90° state, thereby achieving a 90° flip of the box-shaped material 100 placed on the tipping fork assembly 306.

[0077] In some embodiments, as Figure 10 As shown in , the parallel box posture adjustment device 3 provided by the present invention further includes a first push plate assembly 307 arranged at the first roller conveying assembly 305.

[0078] Figure 19 FIG. 1 is a structural diagram of the first push plate assembly and the tipping fork assembly of the present invention, as shown in FIG. Figure 19As shown in FIG, the first push plate assembly 307 includes a first slide rail 3073, a third rack 3071, a seventh bracket 3074, an eighth bracket 3077, a fifth reduction motor 3075, a sixth gear 3072, and a first push plate 3076 located above the conveying surface of the first roller conveying assembly 5. There are two first slide rails 3073, each of which is equipped with two third sliders. A third rack 3071 extending along the length of one of the first slide rails 3073 is installed on its inner side. The third rack 3071 and the two first slide rails 3073 are fixedly connected. Figure 19 On the frame assembly 11 of the gantry walking mechanism 1 not shown in the figure; both ends of the eighth bracket 3077 are fixedly connected to the third sliders of the two first slide rails 3073, the seventh bracket 3074 is fixedly connected to the eighth bracket 3077, and the first push plate 3076 is fixedly connected to the eighth bracket 3077; the fifth reduction motor 3075 is fixedly connected to the seventh bracket 3074, and the sixth gear 3072 is fixedly connected to the end of the fifth reduction motor 3075. The sixth gear 3072 and the third rack 3071 are engaged for transmission, so that the left and right movement of the first push plate 3076 can be realized.

[0079] In addition, the third gear 30602 is meshed with the third rack 3071 for transmission, the third reduction motor 30604 drives the third gear 30602 to rotate, and the third gear 30602 is meshed with the third rack 3071 to achieve the left and right movement of the tipping fork assembly 306. Figure 18 and Figure 19 The tipping fork assembly 306 can not only realize the 90° flipping of the box-type material 100, but also realize the left and right movement of the box-type material 100. Figure 19 The tipping fork assembly 306 and the first push plate assembly 307 share the first slide rail 3073 and the third rack 3071 , which reduces the number of the first slide rail 3073 and the third rack 3071 and saves costs.

[0080] Preferably, in the embodiment of the present application, the first roller conveying assembly 305 can not only convey the box material 100 forward, but also can store the box material 100 input successively on the first roller conveying assembly 305. The first push plate assembly 307 can push the box material 100 on the first roller conveying assembly 305 to the right by moving to the right, and the turnover fork assembly 306 can push the box material 100 on the first roller conveying assembly 305 to the left by moving to the left. The first push plate assembly 307 and the turnover fork assembly 306 can clamp the box material 100 on the first roller conveying assembly 305 by moving to the middle. The clamping of the box material 100 can reduce the gap between the box materials 100, thereby improving the utilization of the carriage space. Through the left and right translation and pushing function of the first push plate assembly 307 and the turnover fork assembly 306, the box material 100 input successively on the first roller conveying assembly 305 can be stored.

[0081] Figure 20 Figure 1 shows a schematic diagram of the third posture adjustment C adjustment of the box material by the parallel box posture adjustment device of the present application, Figure 20 The posture adjustment shown is the third posture adjustment of the box material in posture B Figure 16 The posture adjustment is the third posture adjustment of the box material in posture B output, and the posture adjustment process is based on the foregoing steps S21-S24, and after step S24, the following steps are further included: S25: The turnover fork assembly 306 is moved to the edge position in advance, at this time, one fork of the turnover fork assembly 306 is located at the lower side of the first roller conveying assembly 305, and the fork teeth of the other fork are vertically upwardly protruding out of the conveying plane of the first roller conveying assembly 305; Wherein, if the box material 100 output in S24 is located at the left side of the balance wheel reversing assembly 313 (the box material 100 comes from the left roller conveying assembly 310 upstream, see the description in step S24), the turnover fork assembly 306 is moved to the left edge position in advance without blocking the box material 100, and if the box material 100 output in S24 is located at the right side of the balance wheel reversing assembly 313 (the box material 100 comes from the right roller conveying assembly 302 upstream, see the description in step S24), the turnover fork assembly 306 is moved to the right edge position in advance without blocking the box material 100. Figure 20 Take the box material 100 output in S24 as an example for description.

[0082] S26: The first roller conveying assembly 305 conveys the box material 100 in posture B to the left to stop at the designated position at the front end.

[0083] When the box-shaped material 100 outputted by the balance wheel reversing assembly 313 is located on the left side, the box-shaped material 100 is outputted to the left side above the first roller conveyor assembly 305. When the box-shaped material 100 outputted by the balance wheel reversing assembly 313 is located on the right side, the box-shaped material 100 is outputted to the right side above the first roller conveyor assembly 305. The description herein assumes that the box-shaped material 100 is located on the left side.

[0084] S27: The tipping fork assembly 306 moves horizontally to the right so that its vertically upward fork frame approaches the left side of the box-type material 100 in posture B. The tipping fork assembly 306 simultaneously performs two actions: moving horizontally to the right and tipping to the left. When the tipping fork assembly 306 flips 90° to the left, the box-type material 100 in posture B is changed to the box-type material 100 in posture C (such as Figure 20 ). The box-type material 100 is in posture C on the first roller conveyor assembly 305 shown in FIG.

[0085] Obviously, if the box-type material 100 output in S24 is located on the right side of the front swing wheel reversing assembly 313, then in this step S27, the overturning fork assembly 306 located on the right side moves horizontally to the left so that its vertically upward fork frame approaches the right side of the box-type material 100 in posture B, and the overturning fork assembly 306 simultaneously performs two actions: moving horizontally to the left and overturning to the right.

[0086] In this embodiment, the linkage control of the lateral movement and reverse flipping movement of the tipping fork assembly 306 can not only achieve a 90° flip of the box-type material 100, but also flip the box-type material 100 to the middle position of the first roller conveying assembly 305.

[0087] In some embodiments, as Figure 10 As shown in , the parallel box posture adjustment device 3 provided by the present invention further includes a front blocking component 308 arranged at the front end of the first roller conveying component 305.

[0088] Figure 21 It is a structural diagram of the front blocking assembly of the present invention, as shown in FIG. Figure 21 As shown in FIG, the front blocking assembly 308 includes a second slide rail 3081, a V-shaped bracket 3082, a U-shaped bracket 3083, a limit bracket 3084, a ninth bracket 3085, a screw stepper motor 3086, and a tenth bracket 3087; wherein the V-shaped bracket 3082 and the ninth bracket 3085 are fixedly connected to the frame assembly 11 ( Figure 21The second slide rail 3081 is fixedly connected to the V-shaped bracket 3082. The U-shaped bracket 3083 is fixedly connected to the second slide rail 3081 at both ends, and fixedly connected to the top of the tenth bracket 3087 in the middle. The bottom of the tenth bracket 3087 is fixedly connected to the end of the screw of the lead screw stepper motor 3086, which is fixedly connected to the ninth bracket 3085. The lead screw stepper motor 3086 drives the U-shaped bracket 3083 to rise or fall through the tenth bracket 3087. The limit bracket 3084 is fixedly connected to the ninth bracket 3085 and is located on one side of the tenth bracket 3087. The limit bracket 3084 is designed with a square groove in the middle to limit the vertical lifting range of the tenth bracket 3087. The lead screw stepper motor 3086 here can also be other devices that can achieve linear motion, such as a cylinder, a combination of gears and racks.

[0089] Preferably, a layer of material with a low friction coefficient can be installed on the U-shaped bracket 3083 to reduce the sliding friction between the U-shaped bracket 3083 and the box-type material 100.

[0090] In this embodiment, the U-shaped bracket 3083 is driven to rise by the screw stepper motor 3086, so that the front blocking assembly 8 can be raised beyond the roller conveying surface of the first roller conveying assembly 305, thereby realizing the blocking and positioning function of the material conveyed by the first roller conveying assembly 5, so that the material conveyed on the first roller conveying assembly 305 can stop moving forward when it reaches the specified position in the front section, so that the first push plate assembly 307 and / or the tipping fork assembly 306 can accurately align these materials on the side to push the materials left and right.

[0091] Preferably, the structure and Figure 21 The structure of the front blocking assembly 308 shown is the same or similar and will not be described again here.

[0092] Figure 22 It is a structural diagram of the box assembly of the present invention, as shown in FIG. Figure 14 As shown in FIG, in addition to the shifting plate 3113, the shifting assembly 311 also includes: a third slide rail 3111, an eleventh bracket 3112, a twelfth bracket 3114, a guide roller 3115, a seventh gear 3116, a sixth reduction motor 3117, and a fourth rack 3118. Among them, the third slide rail 3111 and the fourth rack 3118 are fixedly connected to the frame assembly 11 ( Figure 22(not shown in the figure), there are two third slide rails 3111, each of which has a fourth slider, and a fourth rack 3118 extending along its length is installed on the inner side of one of the third slide rails 3111; the eleventh bracket 3112 is fixedly connected to the fourth slider; the shift plate 3113 is fixedly connected to the eleventh bracket 3112, and the guide roller 3115 is rotatably connected to the shift plate 3113; the twelfth bracket 3114 is fixedly connected to the eleventh bracket 3112, and the sixth reduction motor 3117 is fixedly connected to the twelfth bracket. On the bracket 3114, the seventh gear 3116 is fixedly connected to the end of the sixth reduction motor 3117, and the seventh gear 3116 and the fourth rack 3118 are engaged for transmission. The sixth reduction motor 3117 drives the seventh gear 3116 to rotate, and the seventh gear 3116 will move left / right relative to the fourth rack 3118. The twelfth bracket 3114 fixedly connected to the sixth reduction motor 3117 will be driven to move left / right, thereby driving the eleventh bracket 3112 to move left / right, and the eleventh bracket 3112 drives the shift plate 3113 to move left / right.

[0093] Figure 23 This is a schematic diagram of a second embodiment of the parallel box posture adjustment device of the present invention performing a third posture C adjustment on box-type materials. The posture adjustment process is as follows: S31: The balance wheel reversing assembly 313 moves along Figure 15 The a direction in the figure rotates 90° clockwise, and the driving roller 31311 is controlled to rotate forward at a speed of V4; If the rear blocking assembly 312 is in the raised state at the last moment, then S31 also needs to lower the rear blocking assembly 312 to make it lower than the roller conveying surface of the rear roller conveying assembly 301 .

[0094] S32: The rear roller conveyor assembly 301 conveys the box-shaped material 100 forward at a speed V3. During this process, the front end of the box-shaped material 100 in the initial posture gradually rotates to the right under the combined action of the forward speed V3, the leftward speed V4, and the guide roller 3115, until the box-shaped material 100 rotates horizontally 90° and becomes the box-shaped material 100 in posture C. Obviously, in this step, under the action of speeds V3 and V4, the box-shaped material 100 in the posture C after the final reversal will be as follows Figure 23 As shown in FIG, it is on the right side of the balance wheel reversing assembly 313.

[0095] S33 : The balance wheel reversing assembly 313 controls the driving roller 31311 to reverse, so that the box-shaped material 100 in posture C is transported to the middle of the balance wheel reversing assembly 313 .

[0096] S34: When the laser rangefinder 30209 detects that the box-shaped material 100 in posture C is completed, the balance wheel reversing assembly 313 stops running and drives the roller 31311 to rotate quickly back. Figure 15 The initial state shown; S35: Control the driving roller 31311 to rotate forward, and convey the box-type material 100 in posture C forward to the first roller conveying assembly 305, and then the first roller conveying assembly 305 directly outputs the box-type material 100 in posture C forward.

[0097] It can be seen from the above process steps S31 to S35 that in the second embodiment, the adjustment from the initial posture to the posture C is completed during the conveying process through speed synthesis.

[0098] Obviously, in step S31, the balance wheel reversing component 313 can also be Figure 15 After rotating 90° clockwise in direction a, the driving roller 31311 is controlled to reverse, and then the driving roller 31311 is controlled to rotate forward in S33. The same is applicable. The only difference is that the front end of the input box-type material 100 rotates to the left and becomes posture C, which will not be repeated here.

[0099] Cache mechanism 4: Figure 24 This is a structural diagram of the front end and buffer mechanism of the parallel box posture adjustment device of the present invention. Figure 24 As shown in the figure, the cache mechanism 4 includes: a second roller conveying assembly 41, a right push plate assembly 42, a cache blocking assembly 43, and a left push plate assembly 44. Among them, the second roller conveying assembly 41 has the same structure as the front roller conveying assembly 305 and is used to convey the box-type materials thereon forward. The right push plate assembly 42 and the left push plate assembly 44 have the function of moving left and right; the cache blocking assembly 43 has the same or similar structure as the front blocking assembly 308. It is used to block and limit the box-type materials sent to the front end by the second roller conveying assembly 41. The right push plate assembly 42 is used to push the box-type materials on the second roller conveying assembly 41 to the left, and the left push plate assembly 43 is used to push the box-type materials on the second roller conveying assembly 41 to the right. Through the cooperation of the two, the input box-type materials are pushed left and right successively, so that the second roller conveying assembly 41 acts as a secondary cache to cache multiple pieces of box-type materials input successively on itself. In addition, the right push plate assembly 42 and the left push plate assembly 44 also have the function of clamping and moving the material boxes to eliminate the gaps between the material boxes and adjust the positions, which is beneficial to the discharge of the material boxes.

[0100] Furthermore, if Figure 25 The left push plate assembly 44 includes a fifth rack 441, an eighth gear 442, a fourth slide rail 443, a thirteenth bracket 444, a seventh reduction motor 445, a second push plate 446, and a fourteenth bracket 447.

[0101] The fourth slide rail 443 is fixedly connected to the fifth rack 441 and the outer frame (not shown in the figure). The two ends of the fourteenth bracket 447 are fixedly connected to the fifth sliding block. The thirteenth bracket 444 is fixedly connected to the fourteenth bracket 447. The seventh reduction motor 445 is fixedly connected to the thirteenth bracket 444. The eighth gear 442 is fixedly connected to the end of the seventh reduction motor 445. The eighth gear 442 and the fifth rack 441 are in meshing transmission. The second push plate 446 is fixedly connected to the fourteenth bracket 447. The seventh reduction motor 445 drives the eighth gear 442 to rotate. When the eighth gear 442 is in meshing transmission with the fifth rack 441, the left and right movements of the second push plate 446 can be realized. The structure of the right push plate assembly 42 is the same as that of the left push plate assembly 44, which will not be described here.

[0102] Preferably, the right push plate assembly 42 and the left push plate assembly 44 share the fourth slide rail 443 and the fifth rack 441, which reduces the number of fourth slide rails 443 and fifth racks 441 and saves costs.

[0103] Lifting and stacking mechanism 5: Figure 26 The lifting and stacking mechanism 5 is shown in the structure diagram of the lifting and stacking mechanism of the present application, which comprises a left two-stage lifting assembly 51, a right two-stage lifting assembly 52, a right width adjustment assembly 53, a stacking platform assembly 54, a chain back-and-forth box pushing assembly 55, a box blocking assembly 56, a box pushing assembly 57, and a left width adjustment assembly 58. Figure 26

[0104] The stacking platform assembly 54 is similar to the rear roller conveying assembly 301 and has a plurality of rollers, which can convey the input box material 100 to the front end.

[0105] The stacking platform assembly 54 is connected to the left two-stage lifting assembly 51 and the right two-stage lifting assembly 52. The stacking platform assembly 54 is driven by the left two-stage lifting assembly 51 and the right two-stage lifting assembly 52 to realize up-and-down movement, so that the stacking platform assembly 54 can be aligned with the output plane of the buffer mechanism 4 to smoothly convey the plurality of box materials 100 buffered on the buffer mechanism 4 to the stacking platform assembly 54. In addition, when stacking is needed, the height of the stacking platform assembly 54 can be adjusted to the height required for stacking, so that the box material 100 can be horizontally pushed out of the stack.

[0106] ​The right width adjustment assembly 53 is arranged at the right end of the stacking platform assembly 54, and the left width adjustment assembly 58 is arranged at the left end of the stacking platform assembly 54. The right width adjustment assembly 53 and the left width adjustment assembly 58 are internally provided with electric cylinders that can be extended and retracted along the left and right directions of the stacking platform assembly 54. Under the action of the electric cylinders, the right width adjustment assembly 53 and the left width adjustment assembly 58 extend and retract relative to the stacking platform assembly 54, thereby adjusting the width of the stacking platform assembly 54 to adapt to carriages of different widths.

[0107] The chain reciprocating box assembly 55 is located at the upper end of the stacking platform assembly 54. Through left and right reciprocating motion, it is used to push the materials on the stacking platform assembly 54 left and right to arrange the multiple box-type materials 100 output by the buffer mechanism 4 into rows along the first direction.

[0108] The material box blocking assembly 56 is located at the front end of the stacking platform assembly 54 and has a lifting function. It is used to block the materials transported to the front end of the stacking platform assembly 54 so that the front ends of all box-type materials 100 are aligned during discharge.

[0109] The box pushing assembly 57 is located at the rear end of the stacking platform assembly 54 and has a rotational movement function. It is used to push out the box-type materials 100 finally arranged in a row on the stacking platform assembly 54 and stack them into the carriage.

[0110] The specific structure and function of the lifting and stacking mechanism 5 of the present invention can be found in the applicant's prior application CN202310918773.7, which will not be repeated here.

[0111] Figure 27 Schematic diagram of the stacking process of the lifting stacking mechanism of the present invention, as shown in FIG. Figure 27 As shown in , the stacking method of the present invention comprises the following steps: S51: If Figure 27 (a) When the palletizing platform assembly 54 is raised and lowered to the same height as the buffer mechanism 4, the second roller conveyor assembly 41 of the buffer mechanism 4 transfers the first group of four box-type materials 100 forward to the palletizing platform assembly 54. At this time, the first roller conveyor assembly 305 acts as a first-level buffer, caching three box-type materials 100 on itself. S52: Figure 27 (b) The first group of four boxed materials 100 are conveyed forward, while the second group of three boxed materials 100 are transferred from the first roller conveyor assembly 305 to the buffer mechanism 4. The first group of four boxed materials 100 are stopped on the chain reciprocating box pushing assembly 55 by the action of the box blocking assembly 56. Then, the third push plate 5505 pushes the first group of four boxed materials 100 horizontally to the left. At the same time, the first roller conveyor assembly 305 acts as a first-level buffer and begins to buffer the boxed materials 100 on itself ( Figure 27 (not shown in (b)); S53: If Figure 27 (c) The second group of three box-shaped materials 100 are transferred forward by the second roller conveyor assembly 41 of the buffer mechanism 4 to the palletizing platform assembly 54 , while the third group of two box-shaped materials 100 are transferred from the first roller conveyor assembly 305 to the buffer mechanism 4 ; S54: Figure 27 (d) The second group of three box-type materials 100 on the stacking platform assembly 54 are pushed horizontally to the right by the third push plate 5505 for discharge; at this time, the first roller conveyor assembly 305 has already received one buffered box-type material 100; S55: If Figure 27 (e) The third group of two box-shaped materials 100 are transported forward by the second roller conveyor assembly 41 of the buffer mechanism 4 to the palletizing platform assembly 54 , while the fourth group of one box-shaped material 100 is transported from the first roller conveyor assembly 305 to the buffer mechanism 4 ; S56: If Figure 27 (f) The third group of two box-type materials 100 on the stacking platform assembly 54 are pushed horizontally to the right by the returning push plate 5505 for discharge; S57: Figure 27 (g) The fourth group of one box-shaped material 100 is transported forward by the second roller conveying assembly 41 of the buffer mechanism 4 to the palletizing platform assembly 54; S58: Figure 27 (h) The right width adjustment assembly 53 and the left width adjustment assembly 58 move toward the middle to clamp the box-type materials 100 arranged in a row on the stacking platform assembly 54 to eliminate the gaps between the materials; S59: If Figure 27 (i) The stacking platform assembly 54 lifts the box-type material groups arranged in a row along the left and right directions to the surface to be stacked; S510: The pushing component 57 pushes out 100 groups of box-type materials arranged in a row on the stacking platform component 54 for stacking, completing the loading task of the row of materials.

[0112] The box-type material automatic loading machine provided by the present invention has the following beneficial effects: 1) The present invention is equipped with a gantry-type traveling mechanism in which the traveling wheel groups can be independently raised and lowered. The gantry-type frame structure can be parked in the workshop by riding on a chain belt telescopic machine. Therefore, the automatic loader of the present invention can meet the requirements of parking in the workshop and the demand for loading without a platform, thereby increasing its adaptability to the workshop. At the same time, it can adapt to the height difference between the conveying plane and the bottom surface of the carriage of a box-type material loader. 2) The present invention is equipped with a gantry-type traveling mechanism in which the traveling wheels can be raised and lowered independently. This allows the material to be stacked on the steps inside the gooseneck truck compartment while maintaining the material conveying surface unchanged. Therefore, the automatic loading machine of the present invention can be adapted to compartments with various steps, thus expanding the scope of application of the compartments. 3) The present invention is provided with a rotatable climbing conveyor assembly that can be docked with telescopic chain conveyors of different heights, so that the entire device can be loaded even when riding on the chain telescopic conveyor, taking up little space; 4) The present invention is equipped with a parallel box-type multi-position adjustment device, which diverts the box-type materials continuously input along the first horizontal path to the second and third horizontal paths for transportation, and performs the first position adjustment on the box-type materials in the original position conveyed on the second and third horizontal paths in parallel. Multiple position adjustments of the box can be achieved at each moment without stopping or waiting, and the parallel operations do not interfere with each other, greatly improving the speed of the position adjustment of the box-type materials and improving the efficiency of the position adjustment operation; 5) The parallel box multi-posture adjustment device of the present invention controls the second row of rollers of the left and right roller conveying assemblies to convey in a convergent manner while causing the balance wheel reversing assembly to convey forward. This allows for a second posture adjustment of the boxed material during the conveying process through speed synthesis, achieving continuous posture adjustment of the boxed material during conveying, and achieving high efficiency in material conveying and posture adjustment. 6) The parallel box multi-posture adjustment device can adjust the materials into various postures during the conveying process, thereby realizing automatic intelligent mixed loading, improving the automation level of the equipment and increasing the loading rate of the carriage; 7) The present invention is equipped with a buffer mechanism, which allows materials to be temporarily stored side by side on the buffer mechanism. Combined with the first roller conveyor assembly of the parallel box multi-position adjustment device, it can achieve a secondary buffer, which can continuously convey and buffer materials, eliminating the waiting time for material transportation and effectively improving the loading efficiency; 8) The present invention is equipped with a lifting and stacking mechanism. The two-stage lifting assembly increases the operating range in the height direction, realizes full-surface stacking and loading, and improves loading efficiency; 9) The width adaptation component provided on the lifting and stacking mechanism of the present invention increases the operating range in the width direction, can adapt to carriages of various widths, increases the applicable range of the carriages, and improves the loading rate.

[0113] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A box-type material automatic loading machine, characterized in that: include: Gantry-type walking mechanism, parallel box posture adjustment device, buffer mechanism, lifting and stacking mechanism; The gantry-type walking mechanism includes a gantry-type frame assembly and a plurality of sets of running wheels mounted on the bottom of the frame assembly; each set of running wheels is configured to reciprocate and rise and fall in the vertical direction to cross high and low steps; The parallel box posture adjustment device is installed on the gantry walking mechanism, and is configured to: divert the box-type materials continuously input along the first horizontal path to the second horizontal path and the third horizontal path for transportation, and perform the first posture adjustment on the box-type materials in the original posture transported on the second horizontal path and the third horizontal path in parallel to obtain the box-type materials in the first posture; The buffer mechanism is installed on the gantry walking mechanism and is arranged at the front end of the parallel box posture adjustment device, and is used to directly output or buffer the multiple box-type materials continuously output by the parallel box posture adjustment device before output; The lifting and stacking mechanism is installed on the gantry walking mechanism and is arranged at the front end of the buffer mechanism, and is used to arrange multiple box-type materials output by the buffer mechanism into rows along a first direction and then stack them into the carriage.

2. The automatic box-type material loading machine according to claim 1, characterized in that: The parallel box posture adjustment device will also divert the box-type materials continuously input along the first horizontal path to the fourth horizontal path for transportation, and simultaneously adjust the posture of the box-type materials on the second horizontal path, the third horizontal path, and the fourth horizontal path in parallel, and the posture adjustment of the box-type materials on the fourth horizontal path is different from the first posture adjustment; wherein, the fourth horizontal path is on the front extension line of the first horizontal path or is not on the front extension line of the first horizontal path.

3. The automatic box-type material loading machine according to claim 1, characterized in that: The box-type material automatic loading machine also includes: A climbing conveying assembly, which is arranged at the rear end of the parallel box posture adjustment device and has a front end rotatably connected to the gantry walking mechanism; The climbing conveying assembly is configured to: rotate up and down in a vertical plane around its connection position with the gantry walking mechanism so that its rear end can dock with the telescopic chain conveyor from the warehouse; the climbing conveying assembly is used to continuously input the box-type materials output by the telescopic chain conveyor into the parallel box posture adjustment device along the first horizontal path.

4. The automatic box-type material loading machine according to claim 1, characterized in that: The parallel box posture adjustment device includes: Rear roller conveying assembly, right roller conveying assembly, left roller conveying assembly, shifting box assembly, flipping assembly; The left roller conveying assembly and the right roller conveying assembly each have two rows of rollers in the same horizontal plane, the first rows of rollers of the left roller conveying assembly and the right roller conveying assembly are symmetrically arranged on both sides of the roller conveying direction of the rear roller conveying assembly, the conveying surfaces of the rear roller conveying assembly, the left roller conveying assembly and the right roller conveying assembly are coplanar, and the axial directions of the rollers of the left roller conveying assembly and the right roller conveying assembly are perpendicular to the axial direction of the rollers of the rear roller conveying assembly; The box-pulling assembly includes a box-pulling plate disposed on the conveying surface of the rear roller conveying assembly, and the box-pulling assembly is configured to: cause the box-pulling plate to reciprocate in the left and right directions to successively pull the box-type materials continuously input into the rear roller conveying assembly along the first horizontal path onto the first row of rollers of the left roller conveying assembly and the right roller conveying assembly; The flipping assembly is provided between the two rows of rollers of the left roller conveying assembly and the right roller conveying assembly. The flipping assembly is used to flip the box-type materials on the first row of rollers of the left roller conveying assembly and the right roller conveying assembly 90° in the front-to-back direction, so as to flip the box-type materials to the second row of rollers of the left roller conveying assembly / right roller conveying assembly, thereby realizing the first posture adjustment of the box-type materials.

5. The automatic box-type material loading machine according to claim 4, characterized in that: The parallel box posture adjustment device also includes: a balance wheel reversing assembly, which is arranged on the output side of the rear roller conveying assembly and is located between the second row of rollers of the left roller conveying assembly and the right roller conveying assembly; The balance wheel reversing assembly includes a housing and a plurality of balance wheels, wherein the axis of the balance wheel is in a vertical direction and the balance wheel can rotate clockwise or counterclockwise around its axis. The top surface of the balance wheel is provided with a plurality of driving rollers with axes in a horizontal direction; The balance wheel reversing assembly is used to cooperate with the second row of rollers of the left roller conveying assembly / right roller conveying assembly to divert the box-type materials in the first posture on the second horizontal path and the third horizontal path to the fourth horizontal path and then convey them forward, or is used to provide the second row of rollers of the left roller conveying assembly / right roller conveying assembly with a speed in the right / left direction to the box-type materials in the first posture on the second horizontal path and the third horizontal path, and provide a forward speed to the box-type materials in the first posture, so that the box-type materials in the first posture are horizontally rotated 90° in the process of being diverted to the fourth horizontal path, thereby realizing the second posture adjustment of the box-type materials.

6. The automatic box-type material loading machine according to claim 5, characterized in that: The parallel box posture adjustment device further comprises: a first roller conveying assembly and a tipping fork assembly; The first roller conveying assembly is arranged at the output side of the swing wheel reversing assembly, and is used to convey the box-shaped materials thereon forward; The overturning fork assembly is used to flip the box-type material on the first roller conveying assembly 90° in the left-right direction to achieve the third posture adjustment of the box-type material.

7. The automatic box-type material loading machine according to claim 6, characterized in that: The parallel box posture adjustment device also includes: a first push plate assembly, which is used to push the box-type materials on the first roller conveyor assembly to the left / right, so that the first roller conveyor assembly can serve as a first-level buffer to cache multiple box-type materials input successively on itself.

8. The automatic box-type material loading machine according to claim 7, characterized in that: The cache mechanism includes: a second roller conveying assembly, a right push plate assembly, a cache blocking assembly, and a left push plate assembly; The second roller conveyor assembly is used to convey the box-type materials on it forward; the cache blocking assembly is used to block and limit the box-type materials sent to the front end by the second roller conveyor assembly; the right push plate assembly / left push plate assembly is used to push the box-type materials on the second roller conveyor assembly to the left / right, so that the second roller conveyor assembly can act as a secondary cache to cache multiple pieces of box-type materials input successively on itself.

9. The automatic box-type material loading machine according to claim 1, characterized in that: The lifting and stacking mechanism includes: a left two-stage lifting assembly, a right two-stage lifting assembly, a right width adjustment assembly, a stacking platform assembly, a chain reciprocating box assembly, a material box blocking assembly, a box pushing assembly and a left width adjustment assembly; The stacking platform assembly has a plurality of rollers for conveying the input box-shaped materials to the front end; The stacking platform assembly is connected to a left two-stage lifting assembly and a right two-stage lifting assembly, and the left two-stage lifting assembly and the right two-stage lifting assembly are used to drive the stacking platform assembly to rise and fall; The left width adjustment assembly and the right width adjustment assembly are respectively arranged at the left and right ends of the stacking platform assembly. Electric cylinders that can be extended and retracted along the left and right directions of the stacking platform assembly are arranged inside the left width adjustment assembly and the right width adjustment assembly, so that under the action of the electric cylinders, the left width adjustment assembly and the right width adjustment assembly extend and retract relative to the stacking platform assembly to achieve adjustment of the width of the stacking platform assembly; The material box blocking assembly is located at the front end of the stacking platform assembly, and is used to block the materials delivered to the front end of the stacking platform assembly when it is raised, and is lowered when the box pushing assembly is working; The chain reciprocating box assembly is located at the upper end of the stacking platform assembly and is used to push the box-type materials on the stacking platform assembly through left and right reciprocating motion to arrange the input multiple box-type materials into rows along the first direction; The box pushing assembly is located at the rear end of the stacking platform assembly and is used to push the box-type materials arranged in rows along a first direction on the stacking platform assembly and stack them into the carriage.

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