Loading and unloading equipment and cargo loading and unloading system

Abstract

The utility model discloses loading and unloading equipment and a cargo loading and unloading system. The loading and unloading equipment comprises a rack, a marshalling mechanism and a marshalling driving mechanism, the marshalling mechanism is used for receiving goods and marshalling the goods according to a preset marshalling mode, and the marshalling mechanism comprises a marshalling frame and a marshalling platform. The grouping driving mechanism comprises a connecting rod set, a first driving part and a second driving part, the connecting rod set is connected with the rack and the grouping frame and comprises a first rod, a second rod and a third rod, the first rod and the second rod are hinged to the grouping frame and arranged oppositely, and the third rod is arranged opposite to the grouping frame; the second driving part is used for driving the third rod to rotate so that the marshalling frame can incline. According to the loading and unloading equipment, the position of the marshalling mechanism is adjusted through the marshalling driving mechanism, lifting of the marshalling frame in the horizontal state is controlled through the first driving part, the inclination angle of the marshalling frame is adjusted through the second driving part, and the moving reliability of the marshalling frame can be improved through independent control of the two actions.

Description

Technical Field

[0001] This application relates to the field of logistics technology, and in particular to a loading and unloading equipment and a cargo loading and unloading system. Background Technology

[0002] With the development of China's economy, labor costs are constantly rising, leading to increased production costs for more and more enterprises, especially for labor-intensive tasks such as loading and unloading goods. To reduce production costs, the logistics industry has widely adopted automated equipment in both warehousing and transportation. Among automated logistics equipment, loading and unloading equipment is used to stack goods into containers or trucks, or to unload goods from containers or trucks.

[0003] In related technologies, loading and unloading equipment uses robotic arms to control the position of the grouping mechanism. However, robotic arms suffer from low stability during use.

[0004] It should be noted that the statements in this background section only provide background information relevant to this application and do not necessarily constitute prior art. Utility Model Content

[0005] This application provides loading and unloading equipment and cargo loading and unloading system to improve the stability of the movement of the marshalling mechanism.

[0006] The first aspect of this application provides a loading and unloading device, comprising:

[0007] frame;

[0008] A marshalling mechanism is used to receive goods and group them according to a predetermined marshalling pattern. The marshalling mechanism includes a marshalling frame and a marshalling platform; and

[0009] The grouping drive mechanism includes a linkage group, a first drive unit, and a second drive unit. The linkage group connects the frame and the grouping frame. The linkage group includes a first rod and a second rod hinged to the grouping frame and arranged opposite to each other. The linkage group also includes a third rod arranged opposite to the grouping frame. The linkage group and the grouping frame form a four-bar linkage mechanism. The first drive unit is used to drive the first rod and the second rod to swing so that the grouping frame is raised and lowered. The second drive unit is used to drive the third rod to rotate so as to adjust the angle of the grouping frame.

[0010] In some embodiments, the first drive unit is located at one end of the frame away from the grouping mechanism, and the grouping drive mechanism further includes a chain connected to the linkage group, and the first drive unit drives the linkage group to swing through the chain.

[0011] In some embodiments, the grouping drive mechanism further includes a counterweight, with a first end of the chain connected to a link assembly and a second end of the chain connected to the counterweight.

[0012] In some embodiments, the first end of the second drive unit is fixedly connected to the frame, the second end of the second drive unit is connected to the third rod, and the distance between the first end and the second end of the second drive unit is variably set to drive the third rod to rotate.

[0013] In some embodiments, the frame includes a fixed frame and a telescopic frame that is telescopically disposed relative to the fixed frame. A linkage assembly is connected to the telescopic frame. When the linkage assembly swings under the drive of a first drive unit to raise the grouping frame, the telescopic frame is configured to move forward relative to the fixed frame to compensate for the distance moved backward during the raising of the grouping frame.

[0014] In some embodiments, the loading and unloading equipment further includes a cargo conveying mechanism for conveying cargo to a grouping platform. The cargo conveying mechanism includes a first conveying mechanism and a second conveying mechanism. A first end of the first conveying mechanism is rotatably connected to the grouping platform, and a second end of the first conveying mechanism is rotatably connected to the second conveying mechanism. A first end of the second conveying mechanism is connected to a telescopic frame, and a second end of the second conveying mechanism is connected to a fixed frame. The conveying length of the second conveying mechanism is adjustable.

[0015] In some embodiments, the conveying length of the first conveying mechanism is adjustable.

[0016] In some embodiments, the conveying surface of the first conveying mechanism is inclined relative to the bearing surface of the marshalling platform.

[0017] In some embodiments, the grouping mechanism further includes a lifting conveyor disposed between the grouping platform and the first conveying mechanism. The lifting conveyor is vertically and vertically disposed to switch between a first position and a second position. In the first position, the lifting conveyor is engaged with the conveying surface of the first conveying mechanism to receive goods conveyed by the first conveying mechanism. In the second position, the lifting conveyor is engaged with the grouping platform to convey goods onto the grouping platform.

[0018] A second aspect of this application provides a cargo loading and unloading system, including the aforementioned loading and unloading equipment.

[0019] Based on the technical solution provided in this application, the loading and unloading equipment includes a frame, a grouping mechanism, and a grouping drive mechanism. The grouping mechanism is used to receive goods and group them according to a predetermined grouping pattern. The grouping mechanism includes a grouping frame and a grouping platform. The grouping drive mechanism includes a linkage group, a first drive unit, and a second drive unit. The linkage group connects the frame and the grouping frame. The linkage group includes a first rod and a second rod hinged to the grouping frame and arranged opposite to each other. The linkage group also includes a third rod arranged opposite to the grouping frame. The linkage group and the grouping frame form a four-bar linkage mechanism. The first drive unit is used to drive the first rod and the second rod to swing so that the grouping frame is raised and lowered. The second drive unit is used to drive the third rod to rotate so as to adjust the tilt angle of the grouping frame. The loading and unloading equipment of this application uses the grouping drive mechanism to adjust the position of the grouping mechanism, uses the first drive unit to control the raising and lowering of the grouping frame, and uses the second drive unit to adjust the tilt angle of the grouping frame. The independent control of these two actions can improve the reliability of the movement of the grouping frame. Furthermore, the second drive unit, which controls the tilt angle of the marshalling frame, is set independently of the third link and is not integrated with the link, thereby improving the stability of the marshalling mechanism's movement.

[0020] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0022] Figure 1 This is a three-dimensional structural diagram of the loading and unloading equipment according to an embodiment of this application.

[0023] Figures 2 to 4 for Figure 1 The diagram shows the working process of the loading and unloading equipment.

[0024] Figure 5 for Figure 4 A partial enlarged view of the loading and unloading equipment shown.

[0025] Figure 6 for Figure 1 Another modified embodiment of the loading and unloading equipment shown in the example.

[0026] Figure 7 This is a three-dimensional structural diagram of a loading and unloading device according to another embodiment of this application.

[0027] Figures 8 to 11 for Figure 7 The diagram shows the working process of the loading and unloading equipment.

[0028] Explanation of reference numerals in the attached figures:

[0029] 10. Loading and unloading equipment;

[0030] 1. Frame; 11. Fixed frame; 12. Telescopic frame; 13. Drive mechanism;

[0031] 2. Cargo conveying mechanism; 21. First conveying mechanism; 22. Second conveying mechanism; 23. Third conveying mechanism;

[0032] 3. Marshalling mechanism; 31. Marshalling frame; 32. Marshalling platform; 33. Lifting and conveying unit;

[0033] 9. Group drive mechanism; 91. Linkage group; 911. First link; 912. Second link; 913. Third link; 92. First drive unit; 93. Second drive unit; 94. Chain; 95. Counterweight; 96. Sprocket; 97. Mounting frame. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0036] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, and the spatial relative descriptions used herein will be interpreted accordingly.

[0037] Cargo loading and unloading systems typically include destacking equipment and loading / unloading equipment. Destacking equipment is used to destacking stacks of goods and transporting the destacking goods (G) to the loading / unloading equipment.

[0038] refer to Figure 1 and Figure 2 The loading and unloading equipment 10 receives goods G from the destacking equipment and loads the goods G into the container C. Typically, the loading and unloading equipment 10 regroups the goods G. The goods G can be a cargo box or the goods themselves. The container C has a receiving cavity for accommodating the goods G. Specifically, the receiving cavity can be a square cavity with an opening. A portion of the loading and unloading equipment 10 extends into the receiving cavity to load and unload the goods. The side of the receiving cavity with the opening is called the rear side, and the inner side of the receiving cavity opposite the opening side is called the front side. The container C can be a container or a car body, etc.

[0039] In the relevant technologies known to the inventor, the grouping mechanism of loading and unloading equipment uses a four-bar linkage to raise or lower the equipment. However, how to improve the motion stability of this four-bar linkage to enhance the stability of the grouping mechanism is a problem that needs to be solved.

[0040] To address this problem, this application proposes a loading and unloading device to improve the stability of the movement of the marshalling mechanism.

[0041] The following is based on Figures 1 to 11 The structure and working process of the loading and unloading equipment 10 in some embodiments of this application will be described in detail.

[0042] refer to Figure 1 and Figure 2 This application provides a loading and unloading device 10. The loading and unloading device 10 includes a frame 1, a grouping mechanism 3, and a grouping drive mechanism 9.

[0043] refer to Figure 5The marshalling mechanism 3 is used to receive goods and marshal them according to a predetermined marshalling pattern. The marshalling mechanism 3 includes a marshalling frame 31 and a marshalling platform 32.

[0044] The grouping drive mechanism 9 includes a linkage group 91, a first drive unit 92, and a second drive unit 93. The linkage group 91 connects the frame 1 and the grouping frame 31, and includes a first link 911 and a second link 912 hinged to the grouping frame 31 and arranged opposite to each other, as well as a third link 913 arranged opposite to the grouping frame 31. The linkage group 91 and the grouping frame 31 form a four-bar linkage. The first drive unit 92 drives the first link 911 and the second link 912 to swing, thereby raising and lowering the grouping frame 31. The second drive unit 93 drives the third link 913 to rotate, thereby adjusting the tilt angle of the grouping frame 31.

[0045] In this embodiment, the loading and unloading equipment 10 uses a grouping drive mechanism 9 to adjust the position of the grouping mechanism 3, a first drive unit 92 to control the lifting and lowering of the grouping frame 31, and a second drive unit 93 to adjust the tilt angle of the grouping frame 31. The independent control of these two actions improves the reliability of the movement of the grouping frame 31. Furthermore, the second drive unit 93, used to control the tilt angle of the grouping frame 31, is set independently of the third rod 913 and is not integrated with the rod, thereby improving the stability of the movement of the grouping mechanism.

[0046] The first drive unit 92 controls the raising and lowering of the marshalling frame 31, meaning that the first drive unit 92 operates to drive the entire marshalling frame 31 to move in the height direction, that is, to raise or lower. During raising and lowering, the marshalling frame 31 can be in a horizontal state or in an inclined state.

[0047] Specifically, the four-bar linkage is a parallel four-bar linkage.

[0048] The loading and unloading equipment in this application embodiment can automatically connect to warehouses or production line conveyors to achieve automatic cargo transportation. Furthermore, the improved stability of the grouping mechanism promotes high positioning accuracy of the stacked boxes, effectively increasing the utilization rate of the containers.

[0049] refer to Figure 2 When the grouping mechanism 3 needs to stack the bottom layer of goods and the goods on the layers below, the grouping mechanism 3 needs to be tilted relative to the horizontal plane so that the free end of the grouping mechanism 3 tilts downward. Therefore, the grouping drive mechanism 9 needs to drive the grouping mechanism 3 to tilt it. Specifically, the second drive unit 93 drives the third rod 913 to tilt, and simultaneously, the grouping mechanism 3 will also tilt relative to the horizontal plane. At this time, the end of the grouping mechanism 3 almost contacts the bottom surface of the container C, and then the goods are pushed onto the container. (Reference) Figure 3 and Figure 4As the grouping mechanism 3 gradually stacks goods upwards from the bottom of the container, the second drive unit 93 drives the third rod 913 to swing and gradually reduce the tilt angle between the grouping mechanism 3 and the horizontal plane. Simultaneously, the tilt angle between the grouping mechanism 3 and the horizontal plane also gradually decreases. Figure 3 The position shown indicates that the angle between the grouping mechanism 3 and the horizontal plane is zero, meaning that the grouping mechanism 3 has reached a horizontal state.

[0050] refer to Figure 3 and Figure 4 When the grouping mechanism 3 reaches a horizontal state, and there are still several layers of goods that can be stacked at the top of the container C, the height of the grouping mechanism 3 is then increased by the swing of the second rod 912 driven by the first drive unit 92.

[0051] The loading and unloading equipment of this application embodiment can better meet the usage needs under different working conditions and improve the operational reliability of the loading and unloading equipment in the process of cargo flow.

[0052] refer to Figure 1 The marshalling platform 32 is connected to the front of the marshalling frame 31. The marshalling frame 31 includes two support beams respectively arranged at both ends of the marshalling platform 32 in the lateral direction. The cargo conveying mechanism 2 for conveying goods to the marshalling platform 32 is located between the two support beams. Moreover, the marshalling drive mechanism 9 in this embodiment includes two parallel and spaced linkage groups 91, which are respectively connected to the two support beams, thereby making the movement of the marshalling mechanism 3 more stable.

[0053] refer to Figure 2 and Figure 3 In some embodiments, the first drive unit 92 is located at the end of the frame 1 away from the grouping mechanism 3. The grouping drive mechanism 9 also includes a chain 94 connected to the linkage group 91. The first drive unit 92 drives the linkage group 91 to swing through the chain 94. The first drive unit 92 is located far away, so that the force point is far away from the hinge point, which makes it easier to place the counterweight 95 in the area where the fixed frame 11 is located. The required pulling force is reduced, the power drive power is reduced, and thus the production cost is reduced.

[0054] Specifically, such as Figure 3 As shown, the group drive mechanism 9 also includes a sprocket 96, which is mounted on the frame 1 and located between the first drive unit 92 and the connecting rod assembly 91 to transmit power. The sprocket 96 makes the power transmission of the chain 94 more stable.

[0055] like Figure 3 As shown, in some embodiments, the end of the chain 94 is connected to the second rod 912. In this way, the first drive unit 92 directly drives the second rod 912 to rotate, thereby controlling the swing of the linkage group 91.

[0056] In some embodiments, the first drive unit 92 may be a motor or the like.

[0057] refer to Figures 2 to 4 In some embodiments, the grouping drive mechanism 9 further includes a counterweight 95. A first end of the chain 94 is connected to the link assembly 91, and a second end of the chain 94 is connected to the counterweight 95. When the first drive unit 92 drives the second link 912 to swing, causing the grouping mechanism 3 to rise, the counterweight 95 moves downward. The counterweight 95 improves the motion stability of the grouping drive mechanism 9. Furthermore, the counterweight 95 provides auxiliary force for the chain movement, thereby reducing the power requirement of the first drive unit 92 and thus lowering production costs.

[0058] refer to Figure 2 In some embodiments, the first end of the second drive unit 93 is fixedly connected to the frame 1, and the second end of the second drive unit 93 is connected to the third rod 913. The distance between the first end and the second end of the second drive unit 93 is variably set to drive the third rod 913 to rotate. That is, in the embodiments of this application, the second drive unit 93 directly drives the third rod 913 to rotate to change the angle between the third rod 913 and the first rod 911, thereby changing the angle between the third rod 913 and the horizontal plane, so that the angle of the grouping mechanism 3 changes.

[0059] Specifically, such as Figure 2 As shown, the grouping drive mechanism 9 also includes a mounting bracket 97 fixedly mounted on the frame 1. The first end of the second drive unit 93 is fixedly connected to the mounting bracket 97, and the second end of the second drive unit 93 is connected to the third rod 913, so that when the length of the second drive unit 93 changes, the third rod 913 can be pulled to rotate. The second drive unit 93 can be a linear drive component such as an electric lead screw, a pneumatic cylinder, or a hydraulic cylinder. When using an electric lead screw, its length can be precisely and stably controlled, allowing for smoother adjustment of the tilt angle of the grouping mechanism 3.

[0060] In the above embodiments, when the four-bar linkage swings to raise the grouping mechanism 3, the grouping mechanism 3 will move backward a certain distance. To compensate for this distance, in some embodiments, the frame 1 includes a fixed frame 11 and a telescopic frame 12 that extends and retracts relative to the fixed frame 11. The linkage group 91 is connected to the telescopic frame 12. When the linkage group 91 swings under the drive of the first drive unit 92 to raise the grouping frame 31, the telescopic frame 12 is configured to move forward relative to the fixed frame 11 to compensate for the distance the grouping frame 31 moves backward during the raising process.

[0061] refer to Figures 8 to 9 After the grouping mechanism 3 completes the stacking of goods, it needs to be pulled out from the bottom of the goods group. For example... Figure 9As shown, when the depth of the cargo group is D, the telescopic frame 12 moves backward by D relative to the fixed frame 11 so that the grouping mechanism 3 is pulled out.

[0062] refer to Figure 9 and Figure 10 When the grouping mechanism 3 is raised one level under the action of the linkage group 91, specifically, the height of each level is H, the telescopic frame 12 needs to move forward to compensate for a distance of N1-N2. Here, N1 is the distance between the hinge point of the second rod 912 and the grouping frame 31 and the telescopic frame 12 before the grouping mechanism 3 is raised, and N2 is the distance between the hinge point of the second rod 912 and the grouping frame 31 and the telescopic frame 12 after the grouping mechanism 3 is raised. It can be seen that during the swinging process of the linkage group 91, this distance shortens, thus causing the grouping mechanism 3 to move backward. In this embodiment, the telescopic frame 12 is extended or retracted relative to the fixed frame 11 to compensate for the above distance.

[0063] like Figures 8 to 11 As shown, the loading and unloading equipment 10 includes a drive mechanism 13 for driving the telescopic frame 12 to move relative to the fixed frame 11.

[0064] refer to Figure 7 and Figure 11 In some embodiments, the loading and unloading equipment further includes a cargo conveying mechanism 2. The cargo conveying mechanism 2 is used to convey cargo onto the marshalling platform 32 and includes a first conveying mechanism 21 and a second conveying mechanism 22. A first end of the first conveying mechanism 21 is rotatably connected to the marshalling platform 32, and a second end of the first conveying mechanism 21 is rotatably connected to the second conveying mechanism 22. A first end of the second conveying mechanism 22 is connected to a telescopic frame 12, and a second end of the second conveying mechanism 22 is connected to a fixed frame 11. The conveying lengths of the first conveying mechanism 21 and the second conveying mechanism 22 are adjustable.

[0065] As described above, the angle of the marshalling platform 32 can be variably set under the action of the linkage group 91. Therefore, by configuring the first conveying mechanism 21, which docks with the marshalling platform 32, to be rotatably connected to the marshalling platform 32, structural interference between the first conveying mechanism 21 and the marshalling platform 32 during the angle change process can be avoided, thereby ensuring the reliability of cargo transportation.

[0066] Furthermore, since the four-bar linkage swings to raise the grouping mechanism 3, causing it to retract a certain distance, the conveying length of the first conveying mechanism 21 is adjustable to accommodate this retraction distance. For example, when the grouping mechanism 3 rises and retracts, the conveying surface of the first conveying mechanism 21 shortens; when the grouping mechanism 3 descends and moves forward, the conveying surface of the first conveying mechanism 21 lengthens, thereby ensuring that the first conveying mechanism 21 remains connected to the grouping mechanism 3.

[0067] The cargo conveying mechanism in this embodiment further includes a second conveying mechanism 22. The first end of the second conveying mechanism 22 is connected to the telescopic frame 12, and the second end of the second conveying mechanism 22 is connected to the fixed frame 11. The conveying length of the second conveying mechanism 22 is adjustable. Thus, when the telescopic frame 12 moves relative to the fixed frame 11, the conveying length of the second conveying mechanism 22 can change accordingly, thereby ensuring the normal conveying of goods during the movement of the telescopic frame 12.

[0068] Specifically, the second conveying mechanism 22 is a telescopic belt mechanism, which includes a first belt segment forming a conveying surface and a second belt segment not forming a conveying surface. The first belt segment and the second belt segment are integrally arranged and wound around multiple pulleys. The two ends of the first belt segment are respectively wound around the first pulley and the second pulley. The distance between the first pulley and the second pulley is adjustable so that the length of the conveying surface is adjustable.

[0069] In order to enable the loading and unloading equipment of this application embodiment to stack more goods, in some embodiments, the conveying surface of the first conveying mechanism 21 is inclined relative to the bearing surface of the grouping platform 32. Thus, when stacking the bottom layer of goods, the conveying surface of the first conveying mechanism 21 is inclined downward; when stacking higher layers of goods, the conveying surface of the first conveying mechanism 21 is inclined upward.

[0070] like Figure 6 As shown, when the grouping mechanism 3 is stacked on the top layer of the goods, the distance between the grouping mechanism 3 and the container C is only slightly greater than the height of the goods G. The goods are transported up at an angle by the first conveying mechanism 21. The angled goods are very likely to collide with the container, which will affect the loading effect.

[0071] In some embodiments, the grouping mechanism 3 further includes a lifting conveyor 33 disposed between the grouping platform 32 and the first conveying mechanism 21. The lifting conveyor 33 is vertically oriented to switch between a first position and a second position. In the first position, the lifting conveyor 33 engages with the conveying surface of the first conveying mechanism 21 to receive goods conveyed by the first conveying mechanism 21; in the second position, the lifting conveyor 33 engages with the grouping platform 32 to convey goods onto the grouping platform 32. In this way, the first conveying mechanism 21 first conveys the goods onto the lifting conveyor 33 to straighten the tilted goods to a horizontal position, and then controls the lifting conveyor 33 to rise to a position level with the grouping platform 32, thereby conveying the goods onto the grouping platform and avoiding collision between the goods and the container.

[0072] This application also provides a cargo loading and unloading system, including the loading and unloading equipment 10 of the above embodiments.

[0073] The following is based on Figures 1 to 11The structure and working process of the loading and unloading equipment according to a specific embodiment of this application will be described in detail.

[0074] like Figure 1 As shown, the loading and unloading equipment 10 includes a frame 1, a cargo conveying mechanism 2, a grouping mechanism 3, and a grouping drive mechanism 9.

[0075] The frame 1 includes a fixed frame 11 and a telescopic frame 12. The fixed frame 11 acts as a main beam in the loading and unloading equipment, and all mechanisms and equipment in this embodiment are directly or indirectly mounted on the fixed frame 11. The telescopic frame 12 is telescopically mounted relative to the fixed frame 11.

[0076] The cargo conveying mechanism 2 includes a first conveying mechanism 21, a second conveying mechanism 22, and a third conveying mechanism 23. The third conveying mechanism 23 is fixedly mounted on the fixed frame 11 to convey goods onto the second conveying mechanism 22. The first end of the second conveying mechanism 22 is connected to the telescopic frame 12, and the second end is attached to the fixed frame 11. The second conveying mechanism 22 moves synchronously with the telescopic frame 12. The second conveying mechanism 22 is used to convey goods onto the first conveying mechanism 21. The first conveying mechanism 21 swings and rises and falls together with the grouping mechanism 3, simultaneously conveying goods onto the grouping mechanism 3.

[0077] Grouping mechanism 3 is used to receive goods and group them according to a predetermined grouping pattern to form a goods group. To effectively stack goods at the designated location and to arrange them into an ideal shape, the goods need to be grouped in advance. The preset grouping pattern refers to a pre-designed arrangement of goods, such as arranging them in a row, column, or multiple rows or columns; goods can be placed close together or with gaps between them. The grouping pattern is preset based on the size, shape, post-stack position, and post-stack shape of the goods.

[0078] The grouping drive mechanism 9 includes a linkage group 91, a first drive unit 92, a second drive unit 93, a chain 94, a counterweight 95, a sprocket 96, and a mounting frame 97. The linkage group 91 includes a first link 911, a second link 912, and a third link 913. The linkage group 91 moves under the drive of the first drive unit 92 and the second drive unit 93 to achieve lifting and lowering drive of the grouping mechanism 3 and to adjust the angle of the grouping mechanism 3. For example, when the carriage reaches the designated position, the telescopic frame 12 moves to lower the grouping mechanism 3 to transport it to the designated position, and the second conveying mechanism 22 moves in real time following the telescopic frame 12. According to the logical requirement of stacking goods from the bottom to the top of the carriage and from the inside to the outside, the grouping drive mechanism 9 adjusts the position and angle of the grouping mechanism 3 to make the goods stacked as closely as possible. As the goods are stacked higher, the telescopic frame 12 and the grouping drive mechanism 9 continuously adjust the position and angle of the grouping mechanism 3 to ultimately achieve the requirement that the goods are stacked tightly in the carriage.

[0079] The working process of the grouping mechanism 3 in this embodiment is as follows:

[0080] When the grouping mechanism 3 is stacking goods at the bottom of the container C, the second drive part 93 of the grouping drive mechanism 9 drives the third rod 913 to swing and generate an inclination angle with the horizontal plane. The grouping mechanism 3 swings synchronously and generates the same inclination angle with the horizontal plane. At this time, the end of the grouping mechanism 3 almost touches the bottom surface of the container, and then pushes the goods onto the container.

[0081] When the grouping mechanism 3 stacks the second, ..., nth layers of the container, the first drive unit 92 of the grouping drive mechanism 9 drives the second rod 912 to swing and reduce the tilt angle with the horizontal plane. Simultaneously, the grouping mechanism 3 swings to reduce the tilt angle with the horizontal plane, raising the end of the grouping mechanism 3. At this time, the telescopic frame 12 moves into the container to compensate for the distance the end of the grouping mechanism 3 swings backward when raised. After positioning, the second layer is stacked. The above actions are repeated to continue stacking the third, ..., nth layers until the tilt angle between the grouping mechanism 3 and the horizontal plane is zero, that is, the grouping mechanism 3 reaches a horizontal position.

[0082] When the grouping mechanism 3 reaches a horizontal position, there are still several layers of goods that can be stacked between it and the top of the container. At this time, the height of the grouping mechanism 3 is raised by the swinging of the second rod 912 driven by the first drive unit 92, and the counterweight 95 moves downward. At this time, the telescopic frame 92 moves into the container to compensate for the distance that the end of the grouping mechanism 3 swings backward when it is raised. After it is positioned, this action is repeated until the goods are stacked to the top layer.

[0083] When the goods are stacked to the top layer, the distance between the grouping mechanism 3 and the container is only slightly greater than the height of the goods. However, the goods are transported at an angle by the first conveyor mechanism 21. The angled goods may collide with the container, thus affecting the automatic loading effect. The lifting conveyor 33 on the grouping mechanism 3 mainly functions to first straighten the goods that have been tilted up by the first conveyor mechanism 21 to a horizontal position when the goods are stacked to the top layer, and then raise the grouping platform before finally stacking them to the top layer of the container.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and not to limit them; although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this application or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of this application, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in this application.

Claims

1. A loading and unloading device, characterized in that, include: Rack (1); A marshalling mechanism (3) for receiving goods (G) and marshalling the goods (G) according to a predetermined marshalling pattern, the marshalling mechanism (3) including a marshalling frame (31) and a marshalling platform (32); and The grouping drive mechanism (9) includes a linkage group (91), a first drive unit (92), and a second drive unit (93). The linkage group (91) connects the frame (1) and the grouping frame (31). The linkage group (91) includes a first rod (911) and a second rod (912) hinged to the grouping frame (31) and arranged opposite to each other. The linkage group (91) also includes a third rod (913) arranged opposite to the grouping frame (31). The linkage group (91) and the grouping frame (31) form a four-bar linkage. The first drive unit (92) is used to drive the first rod (911) and the second rod (912) to swing so that the grouping frame (31) is raised and lowered. The second drive unit (93) is used to drive the third rod (913) to rotate so as to adjust the tilt angle of the grouping frame (31).

2. The loading and unloading equipment according to claim 1, characterized in that, The first drive unit (92) is located at one end of the frame (1) away from the grouping mechanism (3). The grouping drive mechanism (9) also includes a chain (94) connected to the link group (91). The first drive unit (92) drives the link group (91) to swing through the chain (94).

3. The loading and unloading equipment according to claim 2, characterized in that, The grouping drive mechanism (9) also includes a counterweight (95), the first end of the chain (94) is connected to the link group (91), and the second end of the chain (94) is connected to the counterweight (95).

4. The loading and unloading equipment according to claim 1, characterized in that, The first end of the second drive unit (93) is fixedly connected to the frame (1), the second end of the second drive unit (93) is connected to the third rod (913), and the distance between the first end and the second end of the second drive unit (93) is variably set to drive the third rod (913) to rotate.

5. The loading and unloading equipment according to claim 1, characterized in that, The frame (1) includes a fixed frame (11) and a telescopic frame (12) that is telescopically arranged relative to the fixed frame (11). The linkage group (91) is connected to the telescopic frame (12). When the linkage group (91) swings under the drive of the first drive unit (92) to raise the grouping frame (31), the telescopic frame (12) is configured to move forward relative to the fixed frame (11) to compensate for the distance moved backward during the raising of the grouping frame (31).

6. The loading and unloading equipment according to claim 5, characterized in that, The loading and unloading equipment also includes a cargo conveying mechanism (2), which is used to convey cargo to the marshalling platform (32). The cargo conveying mechanism (2) includes a first conveying mechanism (21) and a second conveying mechanism (22). The first end of the first conveying mechanism (21) is rotatably connected to the marshalling platform (32), and the second end of the first conveying mechanism (21) is rotatably connected to the second conveying mechanism (22). The first end of the second conveying mechanism (22) is connected to the telescopic frame (12), and the second end of the second conveying mechanism (22) is connected to the fixed frame (11). The conveying length of the second conveying mechanism (22) is adjustable.

7. The loading and unloading equipment according to claim 6, characterized in that, The conveying length of the first conveying mechanism (21) can be adjusted.

8. The loading and unloading equipment according to claim 6, characterized in that, The conveying surface of the first conveying mechanism (21) is inclined relative to the bearing surface of the grouping platform (32).

9. The loading and unloading equipment according to claim 8, characterized in that, The grouping mechanism (3) further includes a lifting conveying section (33) disposed between the grouping platform (32) and the first conveying mechanism (21). The lifting conveying section (33) is vertically and vertically disposed to switch between a first position and a second position. In the first position, the lifting conveying section (33) is connected to the conveying surface of the first conveying mechanism (21) to receive the goods conveyed by the first conveying mechanism (21). In the second position, the lifting conveying section (33) is connected to the grouping platform (32) to transport the goods onto the grouping platform (32).

10. A cargo loading and unloading system, characterized in that, Includes the loading and unloading equipment as described in any one of claims 1 to 9.

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