Automatic stacking equipment and system

Abstract

The utility model is suitable for the technical field of logistics transportation, and provides automatic stacking equipment and system which comprises a rail, a rack, a rotating mechanism, a lifting mechanism and a carrying mechanism. The track is arranged in the conveying direction. The rack is installed on the track and can move along the track to move back and forth between the feeding area and the discharging area. The rotating mechanism is in transmission connection with the lifting mechanism, one of the rotating mechanism and the lifting mechanism is mounted on the rack, and the other one is in transmission connection with the loading mechanism; a material conveying opening is formed in the carrying mechanism, and materials can enter or move out of the carrying mechanism through the material conveying opening. After the rack moves to the discharging area along the track, the lifting mechanism can drive the carrying mechanism to ascend and descend, the rotating mechanism drives the carrying mechanism to rotate around the vertical axis, and therefore the position of a material conveying opening of the carrying mechanism is adjusted, materials are accurately stacked to the proper position, manual readjustment is not needed, the automation degree is higher, and the stacking efficiency is higher; and the transportation efficiency is higher.

Description

Technical Field

[0001] The present application relates to the field of logistics and transportation technology, and more specifically, to an automatic palletizing device and system. Background Art

[0002] In the context of the current rapid development of industrialization, logistics and transportation are an important part of factory operations. An efficient logistics system is a key factor in ensuring smooth production processes, reducing production costs and improving market response speed.

[0003] At present, the material transportation in many factories mainly relies on manually operated forklifts to fork out materials from the material outlet of the warehouse and stack them on flatbed trucks. The method of transporting materials by manually operated forklifts is not only inefficient, but also requires high operating skills from forklift drivers.

[0004] Although some factories have begun to use automated loading equipment to transport materials, this type of loading equipment mainly includes tracks, racks installed on the tracks, and a support platform installed on the rack. By placing materials on the support platform, the rack can move along the track to move the support platform to the parking place of the flatbed truck to place the materials on the flatbed truck. However, this type of loading equipment cannot adjust the placement of the materials. After the loading equipment places the materials on the flatbed truck, manual adjustments are still required. The degree of automation is low, and the transportation efficiency is still low. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide an automatic palletizing device and system, aiming to solve the technical problems of low automation degree and low transportation efficiency of loading equipment in the prior art.

[0006] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide an automatic palletizing device, including a track, a frame, a rotating mechanism, a lifting mechanism and a carrying mechanism; the track is arranged along the conveying direction; the frame is installed on the track, and the frame can move along the track to travel back and forth between the loading area and the unloading area; the rotating mechanism and the lifting mechanism are transmission-connected, one of the rotating mechanism and the lifting mechanism is installed on the frame, and the other is transmission-connected to the carrying mechanism; the carrying mechanism is formed with a material transport port, and materials can enter or move out of the carrying mechanism through the material transport port; the lifting mechanism is used to drive the carrying mechanism to move in the vertical direction; the rotating mechanism is used to drive the carrying mechanism to rotate around the vertical axis so that the material transport port faces the loading area or the unloading area.

[0007] In one possible design, an ejector is installed in the carrier mechanism, and the ejector includes a push plate and a driving member, and the driving member is directly or indirectly connected to the push plate, and the driving member is used to drive the push plate to approach or move away from the material transport port to push the material in the carrier mechanism out of the carrier mechanism.

[0008] In a possible design, the ejector also includes a first connecting member and a second connecting member, one end of the first connecting member is hinged to the carrying mechanism, the other end of the first connecting member is hinged to one end of the second connecting member, and the other end of the second connecting member is hinged to the push plate; the driving member is installed on one of the first connecting member and the second connecting member, and the output end of the driving member is connected to the other of the first connecting member and the second connecting member.

[0009] In a possible design, the ejector also includes a third connecting member and a fourth connecting member, the carrying mechanism is slidably installed with a first sliding member along the vertical direction, and the push plate is slidably installed with a second sliding member along the vertical direction; one end of the third connecting member is hinged to the first sliding member, one end of the fourth connecting member is hinged to the second sliding member, the other end of the third connecting member is hinged to the other end of the fourth connecting member, and the third connecting member is hinged to the first connecting member, and the fourth connecting member is hinged to the second connecting member.

[0010] In a possible design, the automatic palletizing equipment further includes a detection mechanism, which is installed on the frame and is used to detect the size and parking position of the vehicle to be loaded.

[0011] In a possible design, the detection mechanism includes a three-dimensional laser scanner, and the three-dimensional laser scanner is mounted on the frame.

[0012] In a possible design, the object carrying mechanism includes a plurality of fork rods, and the plurality of fork rods are arranged at intervals along a first direction, and the first direction is a horizontal direction perpendicular to the conveying direction;

[0013] The automatic palletizing equipment further comprises a feeding mechanism, which is installed in the loading area; the feeding mechanism comprises a plurality of conveying units, which are also arranged at intervals along the first direction.

[0014] The distance between any two adjacent fork rods is greater than the width of the conveying unit in the first direction, and the distance between any two adjacent conveying units is greater than the width of the fork rod in the first direction.

[0015] In a possible design, the rotating mechanism is installed on the frame, the lifting mechanism is transmission-connected to the carrier mechanism, the rotating mechanism is used to drive the lifting mechanism to rotate around a vertical axis to drive the carrier mechanism to rotate around a vertical axis, and the lifting mechanism is used to directly drive the carrier mechanism to move in a vertical direction.

[0016] In a possible design, the automatic palletizing equipment further includes a connecting structure, the connecting structure is transmission-connected to the rotating mechanism, and the rotating mechanism is used to drive the connecting structure to rotate around a vertical axis;

[0017] There are multiple lifting mechanisms and multiple carrying mechanisms, and the multiple lifting mechanisms are installed on the connecting structure at intervals along the first direction; the multiple lifting mechanisms and the multiple carrying mechanisms are arranged in a one-to-one correspondence, and each lifting mechanism is transmission-connected to the corresponding carrying mechanism.

[0018] The present application also provides an automatic palletizing system, comprising the automatic palletizing equipment provided by any of the above technical solutions.

[0019] The beneficial effect of the automatic palletizing equipment provided by the present application is that compared with the prior art, the automatic palletizing equipment of the present application, by setting a rotating mechanism and a lifting mechanism that are mutually transmission-connected, and installing the loading mechanism on one of the rotating mechanism or the lifting mechanism, so that when the frame moves to the unloading area along the track, the lifting mechanism can directly or indirectly drive the loading mechanism to rise and fall, and the rotating mechanism can directly or indirectly drive the loading mechanism to rotate around the vertical axis, thereby adjusting the position of the material transport port of the loading mechanism to accurately stack the material to the appropriate position without manual readjustment, with a higher degree of automation and a higher palletizing efficiency, that is, a higher transportation efficiency.

[0020] The beneficial effect of the automatic palletizing system provided in the present application is that, compared with the prior art, since the automatic palletizing system of the present application includes the automatic palletizing equipment provided by any of the above technical solutions, it has at least all the above beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 is a structural schematic diagram of an automatic palletizing device provided by an embodiment of the present application;

[0023] Figure 2It is a structural schematic diagram of an automatic palletizing device provided by an embodiment of the present application when a frame is located in a loading area;

[0024] Figure 3 It is a schematic diagram of a rack in an automatic palletizing device provided by an embodiment of the present application when the rack is located in a material unloading area;

[0025] Figure 4 It is a structural schematic diagram of a frame in an automatic palletizing device provided by an embodiment of the present application;

[0026] Figure 5 This is a structural schematic diagram of an automatic palletizing device provided by an embodiment of the present application in which a rotating mechanism is installed on a supporting frame;

[0027] Figure 6 It is a structural schematic diagram of an automatic palletizing device provided by an embodiment of the present application in which a loading mechanism is installed on a lifting mechanism;

[0028] Figure 7 It is a structural schematic diagram of a loading mechanism and an ejector from one perspective in an automatic palletizing device provided by an embodiment of the present application;

[0029] Figure 8 It is a structural schematic diagram of a loading mechanism and an ejector in an automatic palletizing device provided by an embodiment of the present application from another perspective;

[0030] Fig. 9 This is another perspective structural schematic diagram of the loading mechanism and the ejector in the automatic palletizing device provided by one embodiment of the present application;

[0031] Fig.10 yes Figure 1 A local enlarged schematic diagram of point A in the middle.

[0032] The reference numerals in the above drawings are as follows:

[0033] 10. Materials; 20. Vehicles to be loaded;

[0034] 110, track; 101, loading area; 102, unloading area; 120, frame; 121, side beam; 122, top beam; 130, support frame; 140, connection structure;

[0035] 200, rotating mechanism; 210, rotating driver; 220, gear; 230, slewing bearing;

[0036] 300, lifting mechanism; 310, lifting drive; 320, column; 330, lifting frame; 340, sprocket; 350, bearing;

[0037] 400, loading mechanism; 410, fork rod; 420, loading support;

[0038] 500, pusher; 510, push plate; 520, driving member; 530, first connecting member; 540, second connecting member; 550, third connecting member; 560, fourth connecting member;

[0039] 600, feeding mechanism; 610, conveying unit; 611, crawler belt; 612, feeding bracket; 613, feeding driver;

[0040] 700. Testing agency. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0043] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the structure or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In order to illustrate the technical solution described in this application, a detailed description is given below in conjunction with specific drawings and embodiments.

[0046] like Figures 1 to 3As shown, an embodiment of the present application provides an automatic palletizing device and system, including a track 110, a frame 120, a rotating mechanism 200, a lifting mechanism 300 and a loading mechanism 400; the track 110 is arranged along the conveying direction; the frame 120 is mounted on the track 110, and the frame 120 can move along the track 110 to go back and forth between the loading area 101 and the unloading area 102; the rotating mechanism 200 and the lifting mechanism 300 are in transmission connection, one of the rotating mechanism 200 and the lifting mechanism 300 is mounted on the frame 120, and the other is in transmission connection with the loading mechanism 400; the loading mechanism 400 is formed with a material transport port, and the material 10 can enter or move out of the loading mechanism 400 through the material transport port; the lifting mechanism 300 is used to drive the loading mechanism 400 to move in the vertical direction; the rotating mechanism 200 is used to drive the loading mechanism 400 to rotate around the vertical axis so that the material transport port faces the loading area 101 or the unloading area 102. It is worth noting that the conveying direction is the horizontal direction.

[0047] Compared with the related art, the automatic palletizing equipment of the embodiment of the present application is provided with a rotating mechanism 200 and a lifting mechanism 300 which are mutually transmission-connected, and the carrying mechanism 400 is installed on one of the rotating mechanism 200 or the lifting mechanism 300. In this way, when the frame 120 moves to the unloading area 102 along the track 110, the lifting mechanism 300 can directly or indirectly drive the carrying mechanism 400 to rise and fall, and the rotating mechanism 200 can directly or indirectly drive the carrying mechanism 400 to rotate around the vertical axis, thereby adjusting the position of the material transport port of the carrying mechanism 400, so as to accurately stack the material 10 to the appropriate position without manual adjustment, and the degree of automation is higher, the palletizing efficiency is higher, and the transportation efficiency is higher. In addition, the material stacks stacked by the automatic palletizing equipment provided by the embodiment of the present application have higher stability and are not easy to collapse during the subsequent transportation process.

[0048] During the work process: Figure 2 and Figure 3 As shown, the rack 120 first moves along the track 110 to the loading area 101, at which time the material transport port faces the loading area 101, and the material 10 can be sent from the discharge port of the loading area 101 to the loading mechanism 400 through the material transport port, and then the loading mechanism 400 is lifted to a certain height by the lifting mechanism 300, and the rack 120 moves along the track 110 to the unloading area 102, and the rotating mechanism 200 drives the loading mechanism 400 to rotate around the vertical axis so that the material transport port faces the unloading area 102, and the lifting mechanism 300 is used to lower the loading mechanism 400 to the stacking platform or the material 10 that has been stacked on the stacking platform, so as to stack the material 10 on the stacking platform. The stacking platform can be a flat plate on the vehicle to be loaded; or, it can also be the ground; or, it can also be the feeding end of the vertical warehouse.

[0049] The automatic palletizing equipment provided in the embodiment of the present application can be used to load materials 10 onto a vehicle, and can also be used to unload materials 10. When the automatic palletizing equipment is used to load materials 10 onto a vehicle, the area where the vehicle to be loaded stops is the unloading area 102, and the area where the discharge end of the vertical warehouse is located is the loading area 101. The materials 10 in the vertical warehouse are stacked onto the flatbed of the vehicle to be loaded by the automatic palletizing equipment. When the automatic palletizing equipment is used to unload materials 10, the area where the vehicle to be loaded stops is the loading area 101, and the unloading area 102 can be an open space, or the unloading area 102 can also be provided with the feed end of the vertical warehouse. For ease of description, the following text will take the example of the automatic palletizing equipment being used to load materials 10 onto a vehicle for explanation.

[0050] In some embodiments, Figures 1 to 3 As shown in any of the figures, the track 110 can be set on the ground, or on the ceiling or other places where it is convenient to install the track 110. Optionally, the number of tracks 110 can be one or more. In one example, the number of tracks 110 is two, and the two tracks 110 are installed on the ground in parallel and at intervals along a first direction. The first direction is a horizontal direction perpendicular to the conveying direction, and the length direction of the track 110 is the same as the conveying direction. The loading area 101 and the unloading area 102 are both located between the two tracks 110, and the loading area 101 and the unloading area 102 are arranged at intervals along the conveying direction.

[0051] like Figure 4 As shown, the frame 120 is a gantry frame, and the frame 120 includes two side beams 121 spaced apart along a first direction, and a top beam 122 located between the two side beams 121 and respectively connected to the tops of the two side beams 121. The two side beams 121 are arranged in a one-to-one correspondence with the two rails 110, each side beam 121 is slidably mounted on the corresponding rail 110, and the two side beams 121 can move synchronously along the corresponding rail 110.

[0052] In some embodiments, rollers are installed between each side beam 121 and the track 110, and a travel driver is also installed on each side beam 121, and the output end of the travel driver is connected to the roller. In the embodiment of the present application, the automatic stacking equipment also includes a controller, which is respectively connected to the travel driver signals on the two side beams 121, and the controller controls the travel drivers on the two side beams 121 to synchronously drive the corresponding rollers to rotate, so that the rack 120 moves along the track 110. The travel driver can be a servo drive motor or other structure that can drive the roller to rotate. The servo drive motor has the advantages of fast response speed and high positioning accuracy, which is conducive to more accurate control of the moving position of the rack 120.

[0053] In some embodiments, the two side beams 121 and the top beam 122 are arranged to form an installation area, and the rotating mechanism 200, the lifting mechanism 300 and the loading mechanism 400 are all located in the installation area. At least one of the two side beams 121 is installed with a ladder, and the top beam 122 is installed with a maintenance platform to facilitate regular inspection and maintenance of the automatic palletizing equipment.

[0054] In some embodiments, as 1 to Figure 3 As shown, the rotating mechanism 200 is installed on the frame 120, and the lifting mechanism 300 is in transmission connection with the object-carrying mechanism 400. Specifically, the rotating mechanism 200 is installed on the top beam 122 of the frame 120. The rotating mechanism 200 is used to drive the lifting mechanism 300 to rotate around the vertical axis, so as to indirectly drive the object-carrying mechanism 400 to rotate around the vertical axis. The lifting mechanism 300 is used to directly drive the object-carrying mechanism 400 to move in the vertical direction.

[0055] In other embodiments, the lifting mechanism 300 is installed on the frame 120, and the rotating mechanism 200 is connected to the object-carrying mechanism 400. Specifically, the lifting mechanism 300 is installed on the top beam 122 of the frame 120. The lifting mechanism 300 is used to drive the rotating mechanism 200 to move in the vertical direction, so as to indirectly drive the object-carrying mechanism 400 to move in the vertical direction. The rotating mechanism 200 is used to directly drive the object-carrying mechanism 400 to rotate around the vertical axis.

[0056] For ease of description, the following description will be made by taking the example that the rotating mechanism 200 is installed on the frame 120 and the lifting mechanism 300 is transmission-connected with the carrying mechanism 400.

[0057] In some embodiments, Figure 5As shown, the rotating mechanism 200 includes a rotating driver 210, a gear 220 and a slewing bearing 230, and the rotating driver 210, the gear 220 and the slewing bearing 230 are all mounted on the frame 120 (specifically, mounted on the top beam 122 of the frame 120). Optionally, a support frame 130 is mounted on the lower side of the top beam 122, and the rotating driver 210, the gear 220 and the slewing bearing 230 are all mounted on the top beam 122 through the support frame 130, and the gear 220 and the slewing bearing 230 can rotate relative to the support frame 130. The slewing bearing 230 is an annular structure, and a gear ring is formed on the outer peripheral surface of the slewing bearing 230. The gear ring is coaxially arranged with the slewing bearing 230. The axis of the slewing bearing 230 extends in the vertical direction. The axis of the gear 220 is parallel to the axis of the slewing bearing 230, and the gear 220 is meshed with the gear ring. The gear 220 is connected to the output end of the rotary driver 210. The rotary driver 210 is connected to the controller signal. The controller is also used to control the rotary driver 210 to drive the gear 220 to rotate, thereby driving the slewing bearing 230 to rotate. The lifting mechanism 300 is installed on the slewing bearing 230 to drive the lifting mechanism 300 and the object carrying mechanism 400 connected to the lifting mechanism 300 to rotate through the slewing bearing 230. Optionally, the rotary driver 210 can be a servo drive motor or other structure that can drive the gear 220 to rotate. Exemplarily, the rotary driver 210 is a servo drive motor, so that the rotation angle of the gear 220 can be more accurately controlled, and the rotation angle of the slewing support 230 can be more accurately controlled. The rotation angle of the slewing support 230 is also the rotation angle of the lifting mechanism 300 and the loading mechanism 400.

[0058] In some embodiments, Figure 6 As shown, the lifting mechanism 300 includes a lifting drive 310, a column 320 and a lifting frame 330. The lifting drive 310 is connected to the controller signal, and the lifting drive 310 and the column 320 are both installed on the slewing bearing 230. Optionally, a connecting structure 140 is fixedly installed on the lower side of the slewing bearing 230, and the lifting drive 310 and the column 320 are both installed on the connecting structure 140. There are two columns 320, and the two columns 320 are arranged at intervals along the first direction. The lifting frame 330 is slidably installed between the two columns 320 in the vertical direction, and the lifting drive 310 drives the lifting frame 330 to move in the vertical direction through a chain. The object-carrying mechanism 400 is installed on the lifting frame 330, and the object-carrying mechanism 400 is driven to move in the vertical direction by the lifting frame 330. In one example, each column 320 is provided with a guide rail extending in the vertical direction, and the lifting frame 330 is slidably mounted on the guide rails on both sides along the first direction, and the guide rails are provided to guide the lifting frame 330 to move in the vertical direction. Optionally, the lifting drive 310 can be a reduction motor or other structure that can drive the lifting frame 330 to move.

[0059] In some embodiments, the lifting driver 310 is connected to sprockets 340 on opposite sides along the first direction, and a chain is installed on each sprocket 340. One end of each chain is connected to the lifting frame 330, and the other end is connected to the tensioning structure. The chain is tightened by the lifting frame 330 and the tensioning structure to ensure that the chain is always in a tensioned state. The lifting driver 310 drives the sprocket 340 to rotate to drive the chain to move, thereby driving the lifting frame 330 to move in the vertical direction. Optionally, bearings 350 are arranged at intervals on the connection structure 140 along the first direction, and each sprocket 340 is installed on a different bearing 350. The bearings 350 are arranged to improve the smoothness of the rotation of the sprocket 340.

[0060] In one possible design, Figure 6 As shown, the automatic palletizing equipment also includes a connecting structure 140, which is connected to the rotating mechanism 200 by transmission, and the rotating mechanism 200 is used to drive the connecting structure 140 to rotate around the vertical axis. The number of lifting mechanisms 300 and the loading mechanism 400 is multiple, and the multiple lifting mechanisms 300 are installed on the connecting structure 140 at intervals along the first direction. The multiple lifting mechanisms 300 and the multiple loading mechanisms 400 are arranged one by one, and each lifting mechanism 300 is connected to the corresponding loading mechanism 400 by transmission. In this arrangement, only one rotating mechanism 200 can drive multiple lifting mechanisms 300 to rotate synchronously, and at the same time drive the loading mechanisms 400 on each lifting mechanism 300 to rotate synchronously, the structure is relatively simple, the production cost is low, and the material transportation efficiency is higher. In a specific embodiment, the number of lifting mechanisms 300 and the loading mechanism 400 is two, and the two lifting mechanisms 300 are installed on the connecting structure 140, and the two loading mechanisms 400 are installed on the corresponding lifting mechanisms 300 respectively.

[0061] In some embodiments, after the rack 120 drives the carrier 400 carrying the material 10 to move to the unloading area 102 , the rack 120 can be moved in a direction opposite to the conveying direction to pull the carrier 400 out from under the material 10 .

[0062] Or, in one possible design, Figure 6 and Figure 7As shown, an ejector 500 is installed in the carrier mechanism 400, and the ejector 500 includes a push plate 510 and a driving member 520. The driving member 520 is directly or indirectly connected to the push plate 510, and the push plate 510 is opposite to the material transport port. The driving member 520 is used to drive the push plate 510 to approach or move away from the material transport port to push the material 10 in the carrier mechanism 400 out of the carrier mechanism 400. In this arrangement, the driving member 520 drives the push plate 510 to push the material 10 out of the carrier mechanism 400, so as to stack the material 10 on the stacking platform. In some embodiments, the driving member 520 can be a linear drive structure such as a cylinder, an oil cylinder or an electric cylinder.

[0063] In one possible design, Figures 7 to 9 As shown in any of the figures, the ejector 500 further includes a first connecting member 530 and a second connecting member 540, one end of the first connecting member 530 is hinged to the object-carrying mechanism 400, the other end of the first connecting member 530 is hinged to one end of the second connecting member 540, and the other end of the second connecting member 540 is hinged to the push plate 510; the driving member 520 is installed on one of the first connecting member 530 and the second connecting member 540, the output end of the driving member 520 is connected to the other of the first connecting member 530 and the second connecting member 540, and the driving member 520 is used to drive the one connected to its output end to move. For ease of description, the following description is based on the example that the driving member 520 is installed on the first connecting member 530, the output end of the driving member 520 is connected to the second connecting member 540, and the driving member 520 is used to drive the second connecting member 540 to move. In this arrangement, the first connecting member 530, the second connecting member 540 and the driving member 520 are connected to each other in pairs, so that the first connecting member 530, the second connecting member 540 and the driving member 520 form a triangular structure. When the driving member 520 drives the second connecting member 540 to move, the length of the driving member 520 can change, so that the first connecting member 530 and the second connecting member 540 rotate relative to each other, thereby adjusting the angle between the first connecting member 530 and the second connecting member 540, so as to adjust the distance between the connection between the first connecting member 530 and the object-carrying mechanism 400 and the connection between the second connecting member 540 and the push plate 510, thereby driving the push plate 510 to move relative to the object-carrying mechanism 400 to move closer to or away from the material transport port. When the driving member 520 stops driving the second connecting member 540 to move, the length of the driving member 520 is fixed, so that the first connecting member 530, the second connecting member 540 and the driving member 520 form a stable triangular structure, which is conducive to improving the supporting effect of the driving member 520 on the push plate 510.

[0064] In one possible design, Figures 7 to 9As shown in any of the figures, the ejector 500 further includes a third connecting member 550 and a fourth connecting member 560, the object carrying mechanism 400 is slidably mounted with a first sliding member in a vertical direction, and the push plate 510 is slidably mounted with a second sliding member in a vertical direction; one end of the third connecting member 550 is hinged to the first sliding member, one end of the fourth connecting member 560 is hinged to the second sliding member, the other end of the third connecting member 550 is hinged to the other end of the fourth connecting member 560, and the third connecting member 550 is hinged to the first connecting member 530, and the fourth connecting member 560 is hinged to the second connecting member 540. As can be seen from the above, when the driving member 520 stops driving the second connecting member 540 to move, the first connecting member 530, the second connecting member 540 and the driving member 520 form a stable triangular structure. Therefore, in this arrangement, when the driving member 520 stops driving the second connecting member 540, the third connecting member 550 and the first connecting member 530 cannot rotate relative to each other, and the fourth connecting member 560 and the second connecting member 540 cannot rotate relative to each other. In other words, the third connecting member 550 and the fourth connecting member 560 are also fixed, so that the first connecting member 530, the third connecting member 550 and the side wall of the loading mechanism 400 form a stable triangular structure, and the fourth connecting member 560, the second connecting member 540 and the push plate 510 form a stable triangular structure, so as to further improve the supporting effect of the driving member 520 on the push plate 510, so that the push plate 510 can push heavier materials 10.

[0065] In some embodiments, the number of the third connecting member 550 and the fourth connecting member 560 are both two, and the two third connecting members 550 are respectively located on both sides of the first connecting member 530 in the first direction, and the two fourth connecting members 560 are respectively located on both sides of the second connecting member 540 in the first direction. The two third connecting members 550 on both sides of the first connecting member 530 are arranged in a one-to-one correspondence with the two fourth connecting members 560 on both sides of the second connecting member 540, and each third connecting member 550 is hinged to the corresponding fourth connecting member 560. The object-carrying mechanism 400 is provided with two first vertical slide rails at intervals along the first direction, and each first vertical slide rail is slidably mounted with a first sliding member, and the two first sliding members are arranged in a one-to-one correspondence with the two third connecting members 550, and each first sliding member is hinged to the corresponding third connecting member 550. The push plate 510 is provided with two second vertical slide rails at intervals along the first direction, and each second vertical slide rail is slidably mounted with a second sliding member, and the two second sliding members are arranged in a one-to-one correspondence with the two fourth connecting members 560, and each second sliding member is hinged to the corresponding fourth connecting member 560.

[0066] In one possible design, Figure 1As shown, the automatic stacking equipment also includes a detection mechanism 700, which is installed on the frame 120. The detection mechanism 700 is used to detect the size and parking position of the vehicle to be loaded. In this setting mode, on the one hand, the detection mechanism 700 can detect whether the parking position of the vehicle to be loaded is accurate. If the parking position of the vehicle to be loaded deviates from the correct position, the prompt structure can be used to prompt and guide the driver to park the vehicle to be loaded to the correct position. Alternatively, the frame 120, the rotating mechanism 200 and the lifting mechanism 300 can also be controlled according to the current parking position of the vehicle to be loaded to accurately stack the material 10 on the flat plate of the vehicle to be loaded, so that the material stack is more stable and not easy to collapse. On the other hand, the size of the vehicle to be loaded is detected by the detection mechanism 700, and the stacking structure of the material 10 is reasonably designed to reduce the waste of the stacking space in the vehicle to be loaded.

[0067] Optionally, the detection mechanism 700 may include a visual feedback structure, for example, by taking a picture of the vehicle to be loaded with a camera to obtain image information of the vehicle to be loaded, thereby calculating the size and parking position of the vehicle to be loaded.

[0068] Alternatively, in a possible design, the detection mechanism 700 includes a three-dimensional laser scanner, which is mounted on the frame 120. The three-dimensional laser scanner is used to scan the front and rear of the vehicle to be loaded, as well as the positions of the two opposite sides between the front and rear of the vehicle to be loaded, so as to determine the size and parking position of the vehicle to be loaded.

[0069] In some embodiments, the detection mechanism 700 is mounted on the frame 120. Specifically, Figure 1 As shown, the detection mechanism 700 is installed on the top beam 122 of the frame 120, so that the detection mechanism 700 can detect the size and parking position of the vehicle to be loaded.

[0070] In one possible design, Figure 6 and Figure 7As shown, the loading mechanism 400 includes a plurality of fork rods 410, which are arranged at intervals along a first direction, and the first direction is a horizontal direction perpendicular to the conveying direction. The automatic palletizing equipment also includes a feeding mechanism 600, which is installed in the loading area 101. The feeding mechanism 600 includes a plurality of conveying units 610, which are also arranged at intervals along the first direction. The distance between any two adjacent fork rods 410 is greater than the width of the conveying unit 610 in the first direction, and the distance between any two adjacent conveying units 610 is greater than the width of the fork rod 410 in the first direction. In this arrangement, since the distance between any two adjacent fork rods 410 is greater than the width of the conveying unit 610 in the first direction, and the distance between any two adjacent conveying units 610 is greater than the width of the fork rod 410 in the first direction, each fork rod 410 can extend into between two adjacent conveying units 610, so as to fork the material 10 on the conveying unit 610. The loading mechanism 400 in the automatic palletizing device provided in this embodiment is not only suitable for loading box materials, but also suitable for loading ton bags and materials with pallets, etc., and has higher versatility. In this embodiment, each conveying unit 610 is opposite to the discharge end of the vertical warehouse, and the material 10 can be conveyed to the multiple conveying units 610 through the discharge end of the vertical warehouse, and the multiple conveying units 610 transport the material 10 to the multiple fork rods 410.

[0071] In some embodiments, Figure 7 As shown, the loading mechanism 400 includes a loading support 420 and a plurality of fork rods 410. The loading support 420 is mounted on the lifting frame 330. The plurality of fork rods 410 are connected to one side of the loading support 420 in the horizontal direction. The plurality of fork rods 410 and the loading support 420 are sandwiched to form a loading space. The material transport port is specifically located on the side of the plurality of fork rods 410 away from the loading support 420 and opposite to the loading support 420. The first connecting member 530 and the third connecting member 550 are specifically connected to the loading support 420, respectively. The push plate 510 is specifically located on the side of the loading support 420 connected to the plurality of fork rods 410. Specifically, the first sliding member is specifically slidably mounted on the loading support 420. Specifically, two first vertical slide rails are spaced apart and arranged on the loading support 420.

[0072] In some embodiments, Figures 1 to 3 as well as Fig.10As shown, the conveying unit 610 includes a feeding bracket 612, a crawler 611 and a feeding driver 613. Two pulleys are installed on the feeding bracket 612 at intervals along the conveying direction, and the crawler 611 is installed on the two pulleys. The feeding driver 613 is connected to one of the pulleys. The feeding driver 613 is used to drive the pulley connected to itself to rotate, thereby driving the crawler 611 to roll. The upper surface of the crawler 611 is used to support the material 10. When the crawler 611 of each conveying unit 610 rolls, it can drive the material 10 to move along the conveying direction. The feeding brackets 612 in two adjacent conveying units 610 are arranged at intervals along the first direction, so that each fork rod 410 can extend between two adjacent conveying units 610 respectively, and then the multiple fork rods 410 are lifted by the lifting mechanism 300, so that the material 10 is lifted from the feeding mechanism 600, so that the material 10 is parked on the multiple fork rods 410. It is worth noting that, when the plurality of fork rods 410 are extended into between two adjacent conveying units 610 , the material 10 has already entered the loading mechanism 400 through the material transport opening.

[0073] In some embodiments, there are multiple feeding mechanisms 600, and the multiple feeding mechanisms 600 are arranged in one-to-one correspondence with the multiple object-carrying mechanisms 400. Optionally, there are two feeding mechanisms 600 and two object-carrying mechanisms 400.

[0074] The working principle of the automatic palletizing equipment provided in the embodiment of the present application is as follows: the frame 120 first moves along the track 110 to the loading area 101, at which time the multiple fork rods 410 in the loading mechanism 400 are located on the side of the loading bracket 420 facing the loading area 101, and the lifting mechanism 300 drives the loading mechanism 400 to move in the vertical direction so that the multiple fork rods 410 are respectively aligned between each adjacent two conveying units 610, and the frame 120 moves again along the track 110 in the direction close to the loading area 101 so that the multiple fork rods 410 extend into each adjacent two conveying units 610, and the material 10 is located above the multiple fork rods 410. The lifting mechanism 300 drives the loading mechanism 400 to move upward to lift the multiple fork rods 410 together with the materials 10 on the multiple fork rods 410. The frame 120 moves along the track 110 toward the unloading area 102. When the frame 120 moves to the unloading area 102, the rotating mechanism 200 drives the lifting mechanism 300 and the loading mechanism 400 to rotate 180° around the vertical axis so that the material transportation port of the loading mechanism 400 faces the unloading area 102. The loading mechanism 400 is lowered to the stacking platform or onto the material 10 that has been stacked on the stacking platform through the lifting mechanism 300 again. The driving member 520 in the loading mechanism 400 pushes the push plate 510 to push the material 10 out of the material transportation port so that the material 10 is stacked on the stacking platform.

[0075] Another embodiment of the present application further provides an automatic palletizing system, including the automatic palletizing device provided by any of the above embodiments. Compared with the related art, since the automatic palletizing system of the embodiment of the present application includes the automatic palletizing device provided by any of the above technical solutions, it has at least all the above beneficial effects, which will not be repeated here.

[0076] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An automatic palletizing device, characterized in that: It includes a track, a frame, a rotating mechanism, a lifting mechanism and a carrying mechanism; the track is arranged along the conveying direction; the frame is installed on the track, and the frame can move along the track to travel back and forth between the loading area and the unloading area; the rotating mechanism and the lifting mechanism are transmission-connected, one of the rotating mechanism and the lifting mechanism is installed on the frame, and the other is transmission-connected to the carrying mechanism; the carrying mechanism is formed with a material transport port, and materials can enter or move out of the carrying mechanism through the material transport port; the lifting mechanism is used to drive the carrying mechanism to move in the vertical direction; the rotating mechanism is used to drive the carrying mechanism to rotate around the vertical axis so that the material transport port faces the loading area or the unloading area.

2. The automatic palletizing equipment according to claim 1, characterized in that: An ejector is installed in the carrier mechanism, and the ejector includes a push plate and a driving member. The driving member is directly or indirectly connected to the push plate, and the push plate is opposite to the material transport port. The driving member is used to drive the push plate to approach or move away from the material transport port to push the material in the carrier mechanism out of the carrier mechanism.

3. The automatic palletizing equipment according to claim 2, characterized in that: The ejector also includes a first connecting member and a second connecting member, one end of the first connecting member is hinged to the carrying mechanism, the other end of the first connecting member is hinged to one end of the second connecting member, and the other end of the second connecting member is hinged to the push plate; the driving member is installed on one of the first connecting member and the second connecting member, and the output end of the driving member is connected to the other of the first connecting member and the second connecting member.

4. The automatic palletizing equipment according to claim 3, characterized in that: The ejector also includes a third connecting member and a fourth connecting member. The carrying mechanism is slidably installed with a first sliding member along the vertical direction, and the push plate is slidably installed with a second sliding member along the vertical direction; one end of the third connecting member is hinged to the first sliding member, one end of the fourth connecting member is hinged to the second sliding member, the other end of the third connecting member is hinged to the other end of the fourth connecting member, and the third connecting member is hinged to the first connecting member, and the fourth connecting member is hinged to the second connecting member.

5. The automatic palletizing equipment according to claim 1, characterized in that: The automatic palletizing equipment further comprises a detection mechanism, which is mounted on the frame and is used to detect the size and parking position of the vehicle to be loaded.

6. The automatic palletizing equipment according to claim 5, characterized in that: The detection mechanism comprises a three-dimensional laser scanner, and the three-dimensional laser scanner is installed on the frame.

7. The automatic palletizing equipment according to claim 1, characterized in that: The object-carrying mechanism comprises a plurality of fork rods, and the plurality of fork rods are arranged at intervals along a first direction, and the first direction is a horizontal direction perpendicular to the conveying direction; The automatic palletizing equipment further comprises a feeding mechanism, which is installed in the loading area; the feeding mechanism comprises a plurality of conveying units, which are also spaced apart along the first direction; The distance between any two adjacent fork rods is greater than the width of the conveying unit in the first direction, and the distance between any two adjacent conveying units is greater than the width of the fork rod in the first direction.

8. The automatic palletizing equipment according to any one of claims 1 to 7, characterized in that: The rotating mechanism is installed on the frame, the lifting mechanism is transmission-connected with the carrying mechanism, the rotating mechanism is used to drive the lifting mechanism to rotate around the vertical axis to drive the carrying mechanism to rotate around the vertical axis, and the lifting mechanism is used to directly drive the carrying mechanism to move in the vertical direction.

9. The automatic palletizing equipment according to claim 8, characterized in that: The automatic palletizing equipment further comprises a connecting structure, the connecting structure being transmission-connected to the rotating mechanism, and the rotating mechanism being used to drive the connecting structure to rotate around a vertical axis; There are multiple lifting mechanisms and multiple carrying mechanisms, and the multiple lifting mechanisms are installed on the connecting structure at intervals along the first direction; the multiple lifting mechanisms and the multiple carrying mechanisms are arranged in a one-to-one correspondence, and each lifting mechanism is transmission-connected to the corresponding carrying mechanism.

10. An automatic palletizing system, characterized in that: Comprising the automatic palletizing equipment as described in any one of claims 1 to 9.

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