Pick-and-place device for cargo loading equipment

Abstract

The utility model provides a picking and placing device for cargo loading equipment. The picking and placing device comprises a lifting driving mechanism; the two ends of the mounting frame are rotationally connected with a first linkage mechanism and a second linkage mechanism respectively, and the first linkage mechanism and the second linkage mechanism are driven by the lifting driving mechanism to move up and down; the carrying mechanism is arranged at the bottom of the mounting frame in a linkage mode, and the carrying mechanism is used for inserting and taking corresponding goods; and the lifting driving mechanism is used for driving the first linkage mechanism and the second linkage mechanism to move in the same direction so as to drive the mounting frame and the carrying mechanism to lift up and down, or driving the first linkage mechanism and the second linkage mechanism to move in opposite directions or one of the first linkage mechanism and the second linkage mechanism to move so as to drive the mounting frame and the carrying mechanism to swing to be inclined. By additionally arranging the first linkage mechanism and the second linkage mechanism, multifunctional driving of the lifting driving mechanism is achieved, and the driving cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of picking and placing devices, in particular to a picking and placing device for a cargo loading equipment. Background Art

[0002] An automatic loading equipment includes a gantry that can move between cargos and a carriage, a rotating gantry structure driven by a rotating drive device at the top of the gantry to rotate, and a cargo handling rack that can be lifted and swung on the rotating gantry structure. Among them, the rotating gantry structure and the cargo handling rack form a picking and placing device for picking and placing cargos.

[0003] The specific process of loading cargos is as follows: after the cargo handling rack swings downward to drive the fork rack to swing downward, the gantry moves forward to insert the fork rack of the cargo handling rack into the corresponding cargo pallet, then the cargo handling rack swings upward and rises to lift the cargo. Subsequently, while the gantry moves backward, the rotating drive device drives the rotating gantry structure to rotate, driving the cargo to turn horizontally by 180° towards the carriage. When the cargo moves to the corresponding position in the carriage, after the cargo handling rack descends and swings downward, the gantry moves forward to separate the cargo from the fork rack, so as to effectively pick and place the cargo. However, the existing picking and placing device has the defect that the downward swing of the cargo handling rack needs to be driven by an additional swing drive structure outside the lifting drive structure, resulting in an increase in drive cost. Moreover, both the cargo handling rack and the cargo weight are supported by the lifting of the oil cylinder telescopic rod of the swing drive structure, resulting in easy damage to the swing drive structure and high maintenance cost.

[0004] Designing a picking and placing device for a cargo loading equipment to solve the problems existing in the above-mentioned prior art is the purpose of the research of the present utility model. Content of the Utility Model

[0005] In view of the problems existing in the above-mentioned prior art, the present utility model provides a picking and placing device for a cargo loading equipment, which can effectively solve the problems existing in the above-mentioned prior art.

[0006] The technical solution of the present utility model is as follows:

[0007] A picking and placing device for a cargo loading equipment includes:

[0008] A lifting drive mechanism;

[0009] A mounting frame, with both ends rotatably connected to a first linkage mechanism and a second linkage mechanism respectively. The first linkage mechanism and the second linkage mechanism are respectively driven by the lifting drive mechanism to move up and down.

[0010] The handling mechanism is linked and installed at the bottom of the mounting frame. The handling mechanism is used to pick up corresponding goods. The lifting drive mechanism is used to drive the first linkage mechanism and the second linkage mechanism to move in the same direction, so as to drive the mounting frame and the handling mechanism to lift up and down. Or, it drives the first linkage mechanism and the second linkage mechanism to move in the opposite direction or one of them to move, so as to drive the mounting frame and the handling mechanism to swing to an inclined setting.

[0011] Further, the lifting drive mechanism and the mounting frame are arranged vertically. The first linkage mechanism and the second linkage mechanism are located between the lifting drive mechanism and the mounting frame. A rotation drive mechanism is provided in the middle of the mounting frame between the first linkage mechanism and the second linkage mechanism. The rotation drive mechanism includes a rotary gear ring that rotates through the middle of the mounting frame, and a rotary electric cylinder installed on the top of the mounting frame and whose rotation output end meshes with the inner side of the rotary gear ring through a drive gear. The handling mechanism is linked and horizontally rotated with the rotary gear ring.

[0012] Further, the lifting drive mechanism includes a fixed frame installed above the mounting frame, and lifting electric cylinders fixed in the fixed frame in the front-back distribution. The first linkage mechanism and the second linkage mechanism have the same structure and are symmetrically arranged. The first linkage mechanism includes several telescopic frames that are slidably sleeved and linked to telescopically set from top to bottom in sequence. The highest-level telescopic frame is slidably sleeved with the fixed frame and is respectively connected to the telescopic rods of the corresponding lifting electric cylinders. The lowest-level telescopic frames of the first linkage mechanism and the second linkage mechanism are respectively hinged to the front and rear ends of the mounting frame. The rotation drive mechanism is installed in the middle of the mounting frame and is located between the lowest-level telescopic frames on the front and rear sides.

[0013] Further, several telescopic frames are successively a first-level frame, a second-level frame, and a third-level frame from top to bottom. The left and right outer sides of the first-level frame, the second-level frame, and the third-level frame are respectively slidably connected up and down with the left and right inner sides of the fixed frame, the first-level frame, and the second-level frame through guide sliders and guide rails. The corresponding telescopic rods are respectively connected to the middle sides of the first-level frames of the first linkage mechanism and the second linkage mechanism. The left and right lower ends of the third-level frames of the first linkage mechanism and the second linkage mechanism are respectively hinged to the left and right sides of the front and rear tops of the mounting frame to form a four-corner connection.

[0014] Further, the first linkage mechanism further includes a primary linkage component and a secondary linkage component. The primary linkage component includes a plurality of primary sprockets rotatably disposed on the upper portion of the primary frame, and a primary chain that respectively passes around the plurality of primary sprockets and has one end connected to the lower portion of the secondary frame. The plurality of primary sprockets are higher than the lower end of the fixed frame, and the other ends of the plurality of primary chains are fixedly connected to the lower end of the fixed frame. The secondary linkage component includes a plurality of secondary sprockets rotatably disposed on the upper portion of the secondary frame, and a secondary chain that respectively passes around the plurality of secondary sprockets and has one end connected to the lower portion of the tertiary frame. The plurality of secondary sprockets are higher than the lower end of the primary frame, and the other ends of the plurality of secondary chains are fixedly connected to the lower end of the primary frame.

[0015] Further, the handling mechanism includes a baffle vertically disposed and having an upper end linked and connected to the slewing ring through a rotating seat, a push-pull frame slidably connected to the rotating seat in the front-back direction, and a handling frame connected to the push-pull frame and vertically located behind the baffle. The rotation drive mechanism is used to drive the rotation of the rotating seat. A plurality of rows of through holes are horizontally penetrated through the baffle and are distributed up and down. A plurality of rows of insertion rods are disposed on the side of the handling frame close to the baffle and are distributed up and down, with ends thereof slidably penetrating through the through holes. A push-pull drive mechanism is disposed on the rotating seat and is used to drive the push-pull frame to drive the handling frame to horizontally move back and forth.

[0016] Further, the push-pull frame includes a sliding frame having left and right inner sides slidably connected to the left and right outer sides of the rotating seat, a connecting rod detachably disposed behind the handling frame and vertically and perpendicularly connected to the left and right bottoms of the sliding frame, and a reinforcing rod connecting the connecting rod and the rear end of the sliding frame. A right-angled triangle structure is formed among the sliding frame, the connecting rod, and the reinforcing rod.

[0017] Further, the other ends of the plurality of insertion rods penetrate through the handling frame and are connected to a limiting block. One end of the limiting block extends horizontally and is detachably disposed with the handling frame.

[0018] Therefore, the present utility model provides the following effects and / or advantages:

[0019] 1. By adding the first linkage mechanism and the second linkage mechanism, the lifting drive mechanism can not only drive the mounting frame and the handling mechanism to lift smoothly, but also, when the handling mechanism lifts and transports goods into the carriage and is about to unload, or after the handling mechanism inserts and picks up goods, drive the mounting frame and the handling mechanism to swing to an inclined position, so that the goods slide down obliquely into the carriage to meet the loading requirement of the goods being closely fitted to each other, or make the goods move inward obliquely on the handling mechanism to improve the stability of the handling mechanism for lifting and transporting. Thus, without adding a new drive structure, by adding the first linkage mechanism and the second linkage mechanism, the multi-functional drive of the lifting drive mechanism is realized to reduce the drive cost, and the weights of the mounting frame, the rotation drive mechanism and the handling mechanism are dispersed and conducted to the lifting drive mechanism through the first linkage mechanism and the second linkage mechanism, avoiding the concentrated force on the lifting drive mechanism, improving the drive stability and prolonging the service life of the drive mechanism.

[0020] 2. By rotatably connecting the two ends of the mounting frame through the first linkage mechanism and the second linkage mechanism, the mounting frame is stably suspended below the transverse movement frame. The rotation drive mechanism is arranged in the middle of the mounting frame, ensuring that the rotation drive mechanism can stably drive the handling mechanism to rotate, avoiding excessive shaking of the mounting frame when the drive mechanism drives the handling mechanism to rotate. Moreover, the installation position of the rotation drive mechanism is lowered to improve the utilization rate of the vertical space below the transverse movement frame and reduce the overall height of the picking and placing device, saving the vertical space. And the rotation drive mechanism only needs to drive the handling mechanism to rotate, so the moment of inertia is reduced, the rotation stability is improved, excessive displacement of the goods on the handling mechanism during rotation is avoided, the regularity of goods loading is improved, and the utilization rate of the carriage space is ensured.

[0021] 3. By arranging the first linkage mechanism and the second linkage mechanism as a plurality of telescopic frames that are sleeved and slid from top to bottom in a linked and telescopic manner, the connection points at the upper and lower ends of the lifting electric cylinder are shortened from between the fixed frame and the mounting frame to between the fixed frame and the highest-level telescopic frame. Thus, on the premise of ensuring that the first linkage mechanism and the second linkage mechanism drive the mounting frame to move up and down, the length of the telescopic rod of the lifting electric cylinder required is greatly shortened, the overall length of the lifting electric cylinder is shortened, and further the vertical structural compactness of the first linkage mechanism and the second linkage mechanism is improved, and the overall height of the picking and placing device is further reduced. At the same time, by arranging the rotation drive mechanism in the middle of the mounting frame, the balance of force between the first linkage mechanism and the second linkage mechanism can be improved, further improving the stability of the mounting frame suspended below the transverse movement frame, as well as the stability of the first linkage mechanism and the second linkage mechanism driving the mounting frame to lift or tilt.

[0022] 4. The connection strength between the two is improved by hinging the four corners of the mounting frame through two or three levels of frames, thereby enhancing the stability of the mounting frame suspended in the traversing frame. Further, excessive swaying of the mounting frame during the rotation of the handling mechanism driven by the drive mechanism is avoided. Multistage overlapping guidance is achieved through the guide sliders and guide rails between the fixed frame, the first-level frame, the second-level frame, and the third-level frame, realizing high-precision vertical guidance on four sides. This ensures the stability of the first linkage mechanism and the second linkage mechanism driving the mounting frame and the handling mechanism to move up and down and swing to an inclined position. In particular, it prevents the relative skewing between the first-level frame, the second-level frame, and the third-level frame of the first linkage mechanism and the second linkage mechanism when the mounting frame and the handling mechanism swing to an inclined position, which may cause structural damage, thus improving the overall stability and reliability of the picking and placing device.

[0023] 5. After several rows of insertion rods are inserted into the multi-layer comb-tooth shelf to lift several layers of cotton rolls into the carriage, the mounting frame and the handling mechanism are driven to incline until the lower ends of the several insertion rods swing. Then, the push-pull frame is driven to drive the handling frame to pull away from the baffle in a direction away from the baffle, so that the several layers of cotton rolls fall into the carriage after being pushed by the baffle, thus completing the loading of several layers of cotton rolls. The stable stacking and loading of several layers of cotton rolls are realized through the pushing action of the baffle, greatly saving labor costs and increasing the loading speed.

[0024] It should be understood that the above summary and the following detailed description of the present invention are exemplary and explanatory, and are intended to provide further explanation of the present invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram when the picking and placing device is in use.

[0026] Figure 2 It is a schematic structural diagram of the picking and placing device after driving the handling mechanism.

[0027] Figure 3 It is an exploded structural diagram of the first linkage mechanism.

[0028] Figure 4 It is a schematic structural diagram of the first-level frame.

[0029] Figure 5 It is a schematic structural diagram of the second-level frame.

[0030] Figure 6 It is a schematic structural diagram of the third-level frame.

[0031] Figure 7 It is a schematic structural diagram of the mounting frame, the rotary drive mechanism, and the handling mechanism.

[0032] Figure 8 It is a schematic structural diagram of the push-pull frame and the handling frame. DETAILED DESCRIPTION OF THE INVENTION

[0033] For the convenience of those skilled in the art to understand, the structure of the present utility model will be further described in detail with reference to the accompanying drawings in the embodiments as follows:

[0034] Reference Figure 1-8 , a picking and placing device for a cargo loading equipment, the cargo loading equipment includes: a transverse moving frame 1 driven to move transversely by a transverse moving driving mechanism 2; specifically, the transverse moving driving mechanism 2 includes two parallel ground rails 21 and a traveling frame 22 driven by a motor to move transversely on the ground rails 21. The left and right ends of the transverse moving frame 1 are supported on the traveling frame 22 through columns to form a gantry. The transverse moving driving mechanism 2 drives the transverse moving frame 1 to move transversely between the vehicle and the cargo. The specific structure of the transverse moving driving mechanism 2 is prior art and not the main inventive point of this application, so it will not be elaborated here;

[0035] The picking and placing device includes:

[0036] a lifting driving mechanism 3;

[0037] a mounting frame 4, with the two ends respectively rotatably connected to a first linkage mechanism 6 and a second linkage mechanism 7. The first linkage mechanism 6 and the second linkage mechanism 7 are respectively driven by the lifting driving mechanism 3 to move up and down;

[0038] a handling mechanism 8, linked and arranged at the bottom of the mounting frame 4. The handling mechanism 8 is used to insert and pick up the corresponding cargo; the lifting driving mechanism 3 is used to drive the first linkage mechanism 6 and the second linkage mechanism 7 to move in the same direction to drive the mounting frame 4 and the handling mechanism 8 to move up and down, or drive the first linkage mechanism 6 and the second linkage mechanism 7 to move in the opposite direction or one of them to move, so as to drive the mounting frame 4 and the handling mechanism 8 to swing to an inclined position.

[0039] With the above structure, the addition of the first linkage mechanism 6 and the second linkage mechanism 7 enables the lifting driving mechanism 3 to not only drive the mounting frame 4 and the handling mechanism 8 to lift smoothly, but also when the handling mechanism 8 is about to unload the carried cargo into the carriage, or after the handling mechanism 8 picks up the cargo, drive the mounting frame 4 and the handling mechanism 8 to swing to an inclined position, so that the cargo slides down obliquely into the carriage to meet the loading requirement of the cargoes being closely fitted to each other, or make the cargo move inwards obliquely on the handling mechanism 8 to improve the stability of the handling mechanism 8 for carrying and lifting. Thus, without adding new driving structures, through the addition of the first linkage mechanism 6 and the second linkage mechanism 7, the multi-functional driving of the lifting driving mechanism 3 is realized to reduce the driving cost, and the weights of the mounting frame 4, the rotation driving mechanism 5 and the handling mechanism 8 are dispersed and conducted to the lifting driving mechanism 3 through the first linkage mechanism 6 and the second linkage mechanism 7, avoiding the concentrated force on the lifting driving mechanism 3, improving the driving stability and prolonging the service life of the driving mechanism.

[0040] The existing pick-and-place device also has the following defects: the rotary drive device is arranged on the top of the gantry, resulting in low utilization of the vertical space inside the gantry by the pick-and-place device, the overall height of the pick-and-place device is increased and it is difficult to adapt to installation in a smaller height space, and the rotary drive device needs to drive the rotary gantry structure and the cargo handling frame to rotate together, resulting in a large moment of inertia and unstable rotation, resulting in excessive displacement of the cargo on the fork during rotation, and then causing uneven loading.

[0041] Therefore, in order to solve the above problems: the lifting drive mechanism 3 and the mounting frame 4 are distributed up and down, the first linkage mechanism 6 and the second linkage mechanism 7 are located between the lifting drive mechanism and the mounting frame 4, and the middle part of the mounting frame 4 is provided with a rotating drive mechanism 5 located between the first linkage mechanism 6 and the second linkage mechanism 7, the rotating drive mechanism 5 includes a rotating ring gear 51 that rotates through the middle part of the mounting frame 4, a rotating electric cylinder 52 that is mounted on the top of the mounting frame 4 and the rotation output end is meshed with the inner side of the rotating ring gear 51 through a driving gear, and the conveying mechanism 8 is arranged to rotate horizontally in linkage with the rotating ring gear 51. Specifically, the lifting drive mechanism 3 is installed on the transverse frame 1, and the mounting frame 4 is suspended under the transverse frame 1 through the first linkage mechanism 6 and the second linkage mechanism 7, and the rotating drive mechanism 5 is used to drive the conveying mechanism 8 to rotate 180°. In this embodiment, the goods are cotton rolls.

[0042] The above-mentioned structure is set up, and the two ends of the mounting frame 4 are rotatably connected by the first linkage mechanism 6 and the second linkage mechanism 7 to stably suspend the mounting frame 4 under the transverse frame 1. The rotation drive mechanism 5 is arranged in the middle of the mounting frame 4 to ensure that the rotation drive mechanism 5 can stably drive the conveying mechanism 8 to rotate, and avoid excessive shaking of the mounting frame 4 when the driving mechanism drives the conveying mechanism 8 to rotate. In addition, the installation position of the rotation drive mechanism 5 is lowered to improve the vertical space utilization rate under the transverse frame 1 and reduce the overall height of the pick-up and placement device, saving vertical space, and the rotation drive mechanism 5 only needs to drive the conveying mechanism 8 to rotate, thereby reducing the rotational inertia, improving the rotational stability, avoiding excessive displacement of the goods on the conveying mechanism 8 during rotation, improving the regularity of cargo loading, and ensuring the space utilization rate of the carriage.

[0043] In order to further reduce the overall height of the picking and placing device, the lifting drive mechanism 3 includes a fixed frame 31 erected above the mounting frame 4, and a lifting electric cylinder 32 fixedly arranged in the fixed frame 31 in the front-back direction. Specifically, the fixed frame 31 is fixedly arranged inside the transverse movement frame 1. The first linkage mechanism 6 and the second linkage mechanism 7 have the same structure and are symmetrically arranged. The first linkage mechanism 6 includes a plurality of telescopic frames that are slidably sleeved and linked telescopically from top to bottom in sequence. The highest-level telescopic frame is slidably sleeved with the fixed frame 31 and is respectively connected to the telescopic rods 321 of the corresponding lifting electric cylinders 32. The lowest-level telescopic frames of the first linkage mechanism 6 and the second linkage mechanism 7 are respectively hinged to the front and rear ends of the mounting frame 4. The rotation drive mechanism 5 is arranged in the middle of the mounting frame 4 and is located between the lowest-level telescopic frames on the front and rear sides. By arranging the first linkage mechanism 6 and the second linkage mechanism 7 with a plurality of telescopic frames that are slidably sleeved and linked telescopically from top to bottom, the connection points at the upper and lower ends of the lifting electric cylinder 32 are shortened from between the fixed frame 31 and the mounting frame 4 to between the fixed frame 31 and the highest-level telescopic frame. Thus, on the premise of ensuring that the first linkage mechanism 6 and the second linkage mechanism 7 drive the mounting frame 4 to move up and down, the length of the telescopic rod 321 of the required lifting electric cylinder 32 is greatly shortened, the overall length of the lifting electric cylinder 32 is shortened, and further, the vertical structural compactness of the first linkage mechanism 6 and the second linkage mechanism 7 is improved, and the overall height of the picking and placing device is further reduced. At the same time, by arranging the rotation drive mechanism 5 in the middle of the mounting frame 4, the balance of the force between the first linkage mechanism 6 and the second linkage mechanism 7 can be improved, the stability of the mounting frame 4 suspended below the transverse movement frame 1 can be further improved, and the stability of the first linkage mechanism 6 and the second linkage mechanism 7 driving the mounting frame 4 to lift or tilt can be improved.

[0044] In order to further improve the lifting and tilting stability of the mounting frame 4 and the handling mechanism 8, several levels of the telescopic frames are, from top to bottom, the first-level frame 61, the second-level frame 62, and the third-level frame 63. The left and right outer sides of the first-level frame 61, the second-level frame 62, and the third-level frame 63 are respectively connected to the left and right inner sides of the fixed frame 31, the first-level frame 61, and the second-level frame 62 through guiding sliders 64 and guide rails 65 for up-and-down sliding connection. Specifically, guide rails 65 are respectively fixedly provided on the left and right outer sides of the first-level frame 61, the second-level frame 62, and the third-level frame 63, and several guiding sliders 64 slidably arranged with the corresponding guide rails 65 are respectively fixedly provided on the left and right inner sides of the fixed frame 31, the first-level frame 61, and the second-level frame 62. In other embodiments, up-and-down sliding connection can also be achieved through guide rails 65 and rollers. The corresponding telescopic rods 321 are respectively connected to the middle sides of the first-level frame 61 of the first linkage mechanism 6 and the second linkage mechanism 7. The left and right lower ends of the third-level frame 63 of the first linkage mechanism 6 and the second linkage mechanism 7 are respectively hinged to the left and right sides of the front and rear tops of the mounting frame 4 to form a four-corner connection. Thus, by respectively hinging the two third-level frames 63 to the four corners of the mounting frame 4, the connection strength between the two is improved, and further, the stability of the mounting frame 4 suspended in the transverse movement frame 1 is improved. Further, excessive shaking of the mounting frame 4 during the rotation of the handling mechanism 8 driven by the driving mechanism is avoided, and multi-level overlapping guiding is performed through the guiding sliders 64 and guide rails 65 between the fixed frame 31, the first-level frame 61, the second-level frame 62, and the third-level frame 63 to achieve high-precision guiding with four-side vertical stability, ensuring the stability of the first linkage mechanism 6 and the second linkage mechanism 7 driving the mounting frame 4 and the handling mechanism 8 to move up and down and swing to an inclined setting. In particular, the situation where the first-level frame 61, the second-level frame 62, and the third-level frame 63 of the first linkage mechanism 6 and the second linkage mechanism 7 are relatively skewed when the mounting frame 4 and the handling mechanism 8 swing to an inclined setting, resulting in structural damage, is avoided, and the overall stability and reliability of the picking and placing device are improved.

[0045] In order to improve the connection strength between the third-level frame 63 and the connecting member 4, reinforcing plates 41 are respectively detachably provided at the front and rear tops of the connecting member 4. The left and right lower ends of the third-level frame 63 of the first linkage mechanism 6 and the second linkage mechanism 7 are respectively hinged to the left and right ends of the two reinforcing plates 41.

[0046] In order to realize the linkage expansion and contraction among the first-level rack 61, the second-level rack 62, and the third-level rack 63 while extending the expansion and contraction stroke to increase the lifting stroke, the first linkage mechanism 6 further includes a first-level linkage assembly 66 and a second-level linkage assembly 67. The first-level linkage assembly 66 includes a plurality of first-level sprockets 661 rotatably provided on the upper part of the first-level rack 61, and a first-level chain 662 that respectively passes around the plurality of first-level sprockets 661 and has one end connected to the lower part of the second-level rack 62. The plurality of first-level sprockets 661 are higher than the lower end of the fixed rack 31, and the other ends of the plurality of first-level chains 662 are fixedly connected to the lower end of the fixed rack 31. The second-level linkage assembly 67 includes a plurality of second-level sprockets 671 rotatably provided on the upper part of the second-level rack 62, and a second-level chain 672 that respectively passes around the plurality of second-level sprockets 671 and has one end connected to the lower part of the third-level rack 63. The plurality of second-level sprockets 671 are higher than the lower end of the first-level rack 61, and the other ends of the plurality of second-level chains 672 are fixedly connected to the lower end of the first-level rack 61. When the lifting electric cylinder 32 drives the first-level rack 61 and the plurality of first-level sprockets 661 to rise, the second-level rack 62 and the plurality of second-level sprockets 671 are lifted by the plurality of first-level chains 662 and gradually contracted into the first-level rack 61. At the same time, the second-level rack 62 lifts the third-level rack 63 by the plurality of second-level chains 672 and gradually contracts into the second-level rack 62. When the lifting electric cylinder 32 drives the first-level rack 61 and the plurality of first-level sprockets 661 to descend, the second-level rack 62 and the plurality of second-level sprockets 671 are lowered by the plurality of first-level chains 662 and gradually extend downward. At the same time, the second-level rack 62 lowers the third-level rack 63 by the plurality of second-level chains 672 and gradually extends downward, thereby realizing the linkage expansion and contraction among the first-level rack 61, the second-level rack 62, and the third-level rack 63. On this basis, by installing the first-level sprockets 661 and the second-level sprockets 671 at high positions on the first-level rack 61 and the second-level rack 62, and connecting one end of the chain and the second-level chain 672 to low positions on the second-level rack 62 and the third-level rack 63, the linkage expansion and contraction stroke of the second-level rack 62 and the third-level rack 63 is increased, and a larger range of lifting stroke is realized on the premise that the lengths of the second-level rack 62 and the third-level rack 63 are the same.

[0047] A number of cotton bale goods are placed layer by layer in an array on multi-layer comb-tooth shelves. At present, the loading method of cotton bales mainly uses a forklift driven by a human operator to stack the cotton bales and then insert and load them onto the vehicle flatbed, and then manually stack the cotton bales onto the vehicle one by one. This loading method has problems such as low efficiency, high labor cost, and insufficient loading accuracy.

[0048] Therefore, to solve the above problems: the handling mechanism 8 includes a baffle 82 vertically arranged and connected to the slewing ring gear 51 through a rotating seat 81 at the upper end, a push-pull frame 83 slidably connected to the front and rear of the rotating seat 81, and a handling frame 84 connected to the push-pull frame 83 and vertically located behind the baffle 82. The rotary drive mechanism 5 is used to drive the rotation of the rotating seat 81. A number of rows of through holes 821 are horizontally penetrated through the baffle 82 and distributed up and down. On one side of the handling frame 84 close to the baffle 82, a number of rows of insertion rods 841 are distributed up and down and slidably penetrate through the through holes 821 at the ends. A push-pull drive mechanism 85 is provided on the rotating seat 81 for driving the push-pull frame 83 to drive the handling frame 84 to move horizontally back and forth. Specifically, the number of each row of the through holes 821 and the insertion rods 841 is set to several, and the push-pull drive mechanism 85 can be several telescopic motors. After a number of rows of insertion rods 841 are inserted into the multi-layer comb-tooth storage rack to lift several layers of cotton rolls into the carriage, the mounting frame 4 and the handling mechanism 8 are driven to tilt until the ends of the insertion rods 841 swing downward, and then the push-pull frame 83 is driven to drive the handling frame 84 to pull away from the baffle 82 in a direction away from the baffle 82 to disengage from several layers of cotton rolls, so that several layers of cotton rolls fall into the carriage after being pushed by the baffle 82, thereby completing the loading of several layers of cotton rolls, and realizing the stable stacking loading of several layers of cotton rolls through the pushing action of the baffle 82, greatly saving labor costs and the loading speed.

[0049] To improve the connection strength between the handling frame 84 and the push-pull frame 83, the push-pull frame 83 includes a sliding frame 831 with its left and right inner sides slidably connected to the left and right outer sides of the rotating seat 81, a connecting rod 832 detachably arranged at the rear of the handling frame 84 and vertically and perpendicularly connected to the left and right bottoms of the sliding frame 831, and a reinforcing rod 833 connecting the connecting rod 832 and the rear end of the sliding frame 831. A right-angled triangular structure is formed among the sliding frame 831, the connecting rod 832, and the reinforcing rod 833. Specifically, the left and right inner sides of the sliding frame 831 and the left and right outer sides of the rotating seat 81 are slidably connected through a rail and a slider extending front and rear. Thus, while improving the connection strength between the handling frame 84 and the push-pull frame 83 through the right-angled triangular structure formed among the sliding frame 831, the connecting rod 832, and the reinforcing rod 833, the structural strength of the connecting rod 832 is improved through the reinforcing rod 833, and the support stability of the connecting rod 832 is improved when the insertion rods 841 in several rows are inserted and lifted the cotton rolls and are stressed.

[0050] In order to improve the connection strength between several of the insertion rods 841 and the handling rack 84, the other ends of several of the insertion rods 841 penetrate through the handling rack 84 and are connected with limit blocks 842. One end of the limit block 842 extends horizontally and is detachably arranged with the handling rack 84. Specifically, one end of the limit block 842 is screwed with the handling rack 84. Thus, by adding the limit block 842, the connection area between the other end of the insertion rod 841 and the handling rack 84 is increased, and the connection strength between the insertion rod 841 and the handling rack 84 is improved. At the same time, the insertion rod 841 penetrates through the handling rack 84 and the baffle 82 respectively, so that the other end of the insertion rod 841 is supported by both the handling rack 84 and the baffle 82 after picking up the goods, improving the support strength of the insertion rod 841 and reducing the risk of bending of the insertion rod 841 after being pressed.

[0051] In order to adapt to the left-right changes in the loading position caused by different carriage widths of different models of vehicles or parking deviations, the front and rear sides of the fixing frame 31 are slidably connected left and right with the front and rear sides of the top of the transverse movement frame 1. An adjustment driving mechanism 9 for driving the fixing frame 31 to move horizontally left and right is provided on the top of the transverse movement frame 1. Specifically, the front and rear sides of the fixing frame 31 are slidably connected left and right with the front and rear sides of the top of the transverse movement frame 1 through left and right extending slide rails and sliders. The adjustment driving mechanism 9 is a cylinder. In this embodiment, a plurality of position sensors for detecting and positioning to assist each driving mechanism in transporting the goods to a specified position in the carriage, and angle sensors for detecting the tilt angle of the handling mechanism 8 are respectively provided on structures such as the transverse movement frame 1 and the handling mechanism 8. And each sensor and driving mechanism are both received signals and controlled outputs by the control system. The specific control of the control system is the prior art and not the main inventive point of this application, so it will not be elaborated here. Thus, the adjustment driving mechanism 9 can drive the fixing frame 31 to move horizontally left and right to drive the mounting frame 4 and the handling mechanism 8 to move horizontally left and right through the first linkage mechanism 6 and the second linkage mechanism 7, so as to adjust the left and right stacking positions of the goods in the carriage to adapt to the left-right changes in the loading position caused by different carriage widths or parking deviations, and improve the adaptability of the picking and placing device for loading the vehicle.

[0052] Working principle:

[0053] The cotton bale and the vehicle are respectively located on the front and rear sides of the handling mechanism 8. The lifting drive mechanism 3 drives the first linkage mechanism 6 and the second linkage mechanism 7 to descend synchronously, so as to drive the mounting frame 4 and the handling mechanism 8 to descend corresponding to the cotton bale. After the transverse movement frame 1 moves forward until a plurality of rows of inserting rods 841 are inserted into the multi-layer comb-tooth shelf, the lifting drive mechanism 3 drives the first linkage mechanism 6 and the second linkage mechanism 7 to ascend synchronously, so as to drive the mounting frame 4 and the handling mechanism 8 to ascend. A plurality of rows of inserting rods 841 lift a plurality of layers of cotton bales away from the multi-layer comb-tooth shelf. The transverse movement frame 1 moves backward and the rotation drive mechanism 5 drives the handling mechanism 8 to rotate 180° so that a plurality of layers of cotton bales correspond to the vehicle carriage. After the transverse movement frame 1 moves backward until the handling mechanism 8 enters the carriage, the fixing frame 31 moves horizontally left and right and the handling mechanism 8 descends to the loading position, the lifting drive mechanism 3 drives the first linkage mechanism 6 to slightly ascend and the second linkage mechanism 7 to slightly descend, or drives the first linkage mechanism 6 to ascend a certain distance or the second linkage mechanism 7 to descend a certain distance, so as to drive the mounting frame 4 and the handling mechanism 8 to swing forward high and backward low to be inclined so that the ends of a plurality of inserting rods 841 swing downward, and then drives the push-pull frame 83 to drive the handling frame 84 to pull away from a plurality of layers of cotton bales in a direction away from the baffle 82, so that a plurality of layers of cotton bales are pushed by the baffle 82 and fall into the carriage, thereby completing the loading of a plurality of layers of cotton bales.

[0054] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pick-and-place device for cargo loading equipment, characterized in that: include: Lifting drive mechanism (3); The mounting frame (4) has two ends which are rotatably connected to a first linkage mechanism (6) and a second linkage mechanism (7), and the first linkage mechanism (6) and the second linkage mechanism (7) are respectively driven by the lifting drive mechanism (3) to move up and down; A transport mechanism (8) is arranged at the bottom of the mounting frame (4) in a linkage manner, and the transport mechanism (8) is used to insert and take out corresponding goods; the lifting drive mechanism (3) is used to drive the first linkage mechanism (6) and the second linkage mechanism (7) to move in the same direction, so as to drive the mounting frame (4) and the transport mechanism (8) to move up and down, or to drive the first linkage mechanism (6) and the second linkage mechanism (7) to move in the opposite direction or one of them to move, so as to drive the mounting frame (4) and the transport mechanism (8) to swing to an inclined setting.

2. A cargo loading device for a loading device as claimed in claim 1, characterized in that: The lifting drive mechanism (3) and the mounting frame (4) are arranged in an upper and lower distribution, the first linkage mechanism (6) and the second linkage mechanism (7) are located between the lifting drive mechanism and the mounting frame (4), a rotating drive mechanism (5) located between the first linkage mechanism (6) and the second linkage mechanism (7) is provided in the middle of the mounting frame (4), the rotating drive mechanism (5) comprises a rotating gear ring (51) that rotates and passes through the middle of the mounting frame (4), a rotating electric cylinder (52) that is mounted on the top of the mounting frame (4) and the rotating output end of which is meshed with the inner side of the rotating gear ring (51) through a driving gear, and the transport mechanism (8) is arranged to rotate horizontally in linkage with the rotating gear ring (51).

3. A cargo loading device for a loading device as claimed in claim 2, characterized in that: The lifting drive mechanism (3) comprises a fixed frame (31) mounted above the mounting frame (4), and lifting electric cylinders (32) distributed front and rear and fixed in the fixed frame (31); the first linkage mechanism (6) and the second linkage mechanism (7) have the same structure and are symmetrically arranged; the first linkage mechanism (6) comprises a plurality of telescopic frames which are slidably sleeved from top to bottom and are arranged to be telescopically linked; the highest telescopic frame is slidably sleeved with the fixed frame (31) and is respectively connected to the corresponding telescopic rod (321) of the lifting electric cylinder (32); the lowest telescopic frames of the first linkage mechanism (6) and the second linkage mechanism (7) are respectively hinged to the front and rear ends of the mounting frame (4); and the rotary drive mechanism (5) is arranged in the middle of the mounting frame (4) and between the lowest telescopic frames on the front and rear sides.

4. A cargo loading device for a loading vehicle as claimed in claim 3, characterized in that: The telescopic frames of the plurality of levels are, from top to bottom, a primary frame (61), a secondary frame (62) and a tertiary frame (63). The left and right outer sides of the primary frame (61), the secondary frame (62) and the tertiary frame (63) are respectively connected to the left and right inner sides of the fixed frame (31), the primary frame (61) and the secondary frame (62) by means of guide sliders (64) and guide rails (65) for vertical sliding connection. The corresponding telescopic rods (321) are respectively connected to the middle sides of the primary frame (61) of the first linkage mechanism (6) and the second linkage mechanism (7). The left and right lower ends of the tertiary frame (63) of the first linkage mechanism (6) and the second linkage mechanism (7) are respectively hinged to the left and right sides of the front and rear top of the mounting frame (4) to form a four-corner connection.

5. A cargo loading device for a loading vehicle as claimed in claim 4, characterized in that: The first linkage mechanism (6) further comprises a primary linkage component (66) and a secondary linkage component (67), wherein the primary linkage component (66) comprises a plurality of primary sprockets (661) rotatably arranged on the upper portion of the primary frame (61), and primary chains (662) respectively passing through the plurality of primary sprockets (661) and connected to the lower portion of the secondary frame (62) at one end thereof, wherein the plurality of primary sprockets (661) are higher than the lower end of the fixed frame (31), and the other ends of the plurality of primary chains (662) are fixedly connected to the lower end of the fixed frame (31); and the secondary linkage component (67) comprises a plurality of secondary sprockets (671) rotatably arranged on the upper portion of the secondary frame (62), and secondary chains (672) respectively passing through the plurality of secondary sprockets (671) and connected to the lower portion of the tertiary frame (63) at one end thereof, wherein the plurality of secondary sprockets (671) are higher than the lower end of the primary frame (61), and the other ends of the plurality of secondary chains (672) are fixedly connected to the lower end of the primary frame (61).

6. A cargo loading device for a loading device as claimed in claim 2, characterized in that: The transport mechanism (8) comprises a baffle (82) which is arranged vertically and the upper end of which is linked to the rotating gear ring (51) through a rotating seat (81), a push-pull frame (83) which is connected to the rotating seat (81) in a forward and backward sliding manner, and a transport frame (84) which is connected to the push-pull frame (83) and is vertically located at the rear side of the baffle (82); the rotating drive mechanism (5) is used to drive the rotating seat (81) to rotate; a plurality of rows of through holes (821) distributed vertically are horizontally penetrated on the baffle (82); a plurality of rows of insertion rods (841) distributed vertically and one end of which slides through the through holes (821) are provided on a side of the transport frame (84) close to the baffle (82); and a push-pull drive mechanism (85) is provided on the rotating seat (81) for driving the push-pull frame (83) to drive the transport frame (84) to move horizontally forward and backward.

7. A cargo loading device for a loading device as claimed in claim 6, characterized in that: The push-pull frame (83) comprises a sliding frame (831) whose left and right inner sides are slidably connected to the left and right outer sides of the rotating seat (81), a connecting rod (832) detachably arranged on the rear side of the transport frame (84) and vertically connected to the left and right bottoms of the sliding frame (831), and a reinforcing rod (833) connecting the connecting rod (832) and the rear end of the sliding frame (831); a right-angled triangle structure is formed among the sliding frame (831), the connecting rod (832) and the reinforcing rod (833).

8. A cargo loading device for a loading vehicle as claimed in claim 6, characterized in that: The other ends of the plurality of insertion rods (841) penetrate the transport frame (84) and are connected to a limiting block (842); one end of the limiting block (842) extends transversely and is detachably arranged with the transport frame (84).

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