Automatic stacking apparatus and system

Abstract

An automatic stacking apparatus and system. The automatic stacking apparatus comprises rails, a frame, a rotating mechanism, a lifting mechanism and a carrying mechanism, wherein the rails are arranged in a conveying direction; the frame is mounted on the rails, and can move along the rails to make a round-trip between a loading area and a unloading 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 frame, and the other one of the rotating mechanism and the lifting mechanism is in transmission connection with the carrying mechanism; and the carrying mechanism is formed with a material transportation port, and materials can enter or be removed from the carrying mechanism through the material transportation port. After the frame moves to the unloading area along the rails, the lifting mechanism can drive the carrying mechanism to ascend and descend, and the rotating mechanism drives the carrying mechanism to rotate about a vertical axis, thereby adjusting the position of the material conveying port of the carrying mechanism, so as to accurately stack the materials at a suitable position without requiring manual re-adjustment, thus the degree of automation is higher, and the stacking efficiency is higher.

Description

Automatic stacking equipment and system TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics transportation, and more particularly to an automatic stacking equipment and system. BACKGROUND

[0002] Under the background of the rapid development of current industrialization, logistics transportation is an important link of factory operation. An efficient logistics system is a key factor to ensure smooth production process, reduce production cost and improve market response speed.

[0003] At present, the material transportation in many factories mainly relies on manual operation of forklifts to fork out materials from the discharge port of the vertical warehouse and stack the materials on the flatbed truck. The way of transporting materials by manually operating forklifts not only has low efficiency, but also has high requirements for the operation skills of forklift drivers.

[0004] Although some factories have begun to use automatic loading equipment to transport materials, such loading equipment mainly includes a track, a rack installed on the track, and a material carrying platform installed on the rack. By placing the materials on the material carrying platform, the rack can move along the track to move the material carrying platform to the parking place of the flatbed truck to place the materials on the flatbed truck. However, this kind of loading equipment cannot adjust the placement position of the materials. After the loading equipment places the materials on the flatbed truck, manual adjustment is still needed, the automation degree is low, and the transportation efficiency is still low. SUMMARY

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

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present application is: providing an automatic stacking equipment, comprising a track, a rack, a rotating mechanism, a lifting mechanism and a material carrying mechanism; the track is arranged along the conveying direction; the rack is installed on the track, and the rack can move along the track to go back and forth between a material loading area and a material unloading area; the rotating mechanism and the lifting mechanism are drivingly connected, one of the rotating mechanism and the lifting mechanism is installed on the rack, and the other is drivingly connected with the material carrying mechanism; the material carrying mechanism is formed with a material conveying port, and materials can enter or move out of the material carrying mechanism through the material conveying port; the lifting mechanism is used to drive the material carrying mechanism to move along the vertical direction; the rotating mechanism is used to drive the material carrying mechanism to rotate around the vertical axis, so that the material conveying port faces the material loading area or the material unloading area.

[0007] In a possible design, the material carrying mechanism is provided with an ejector, the ejector comprises a push plate and a driving member, the driving member is directly or indirectly connected with the push plate, and the driving member is configured to drive the push plate to move towards or away from the material conveying opening so as to push the material in the material carrying mechanism out of the material carrying mechanism.

[0008] In a possible design, the ejector further comprises a first connecting member and a second connecting member, one end of the first connecting member is hingedly connected with the material carrying mechanism, the other end of the first connecting member is hingedly connected with one end of the second connecting member, and the other end of the second connecting member is hingedly connected with the push plate; the driving member is mounted on one of the first connecting member and the second connecting member, and an output end of the driving member is connected with the other one of the first connecting member and the second connecting member.

[0009] In a possible design, the ejector further comprises a third connecting member and a fourth connecting member, the material carrying mechanism is slidingly mounted with a first sliding member in a vertical direction, and the push plate is slidingly mounted with a second sliding member in the vertical direction; one end of the third connecting member is hingedly connected with the first sliding member, one end of the fourth connecting member is hingedly connected with the second sliding member, the other end of the third connecting member is hingedly connected with the other end of the fourth connecting member, the third connecting member is hingedly connected with the first connecting member, and the fourth connecting member is hingedly connected with the second connecting member.

[0010] In a possible design, the automatic palletizing device further comprises a detection mechanism, the detection mechanism is mounted on the rack, and the detection mechanism is configured to detect the size and parking position of the vehicle to be loaded.

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

[0012] In a possible design, the material carrying mechanism comprises a plurality of fork rods, and the plurality of fork rods are arranged at intervals in a first direction, the first direction being a horizontal direction perpendicular to the conveying direction.

[0013] The automatic palletizing device further comprises a feeding mechanism, and the feeding mechanism is mounted on the feeding area; the feeding mechanism comprises a plurality of conveying units, and the plurality of conveying units are also arranged at intervals in 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 mounted on the rack, the lifting mechanism is in transmission connection with the object-carrying mechanism, and the rotating mechanism is configured to drive the lifting mechanism to rotate around a vertical axis to drive the object-carrying mechanism to rotate around the vertical axis, and the lifting mechanism is configured to directly drive the object-carrying mechanism to move in the vertical direction.

[0016] In a possible design, the automatic stacking device further includes a connecting structure, the connecting structure is in transmission connection with the rotating mechanism, and the rotating mechanism is configured to drive the connecting structure to rotate around a vertical axis.

[0017] The number of the lifting mechanisms and the number of the object-carrying mechanisms are both plural, the plurality of lifting mechanisms are mounted on the connecting structure at intervals in a first direction, and the plurality of lifting mechanisms and the plurality of object-carrying mechanisms are arranged in one-to-one correspondence, and each lifting mechanism is in transmission connection with the corresponding object-carrying mechanism.

[0018] The application further provides an automatic loading system, which includes the automatic stacking device provided in any of the technical solutions.

[0019] The automatic stacking device provided in the application has the following beneficial effects: compared with the prior art, the automatic stacking device provided in the application is provided with the rotating mechanism and the lifting mechanism in transmission connection with each other, and the object-carrying mechanism is mounted on one of the rotating mechanism and the lifting mechanism, so that when the rack is moved to the unloading area along the track, the object-carrying mechanism can be directly or indirectly lifted by the lifting mechanism, and the object-carrying mechanism can be directly or indirectly rotated around a vertical axis by the rotating mechanism, so that the position of the material conveying port of the object-carrying mechanism is adjusted to accurately stack the materials in a suitable position, without manual adjustment, so that the degree of automation is higher, the stacking efficiency is higher, and the conveying efficiency is higher.

[0020] The automatic stacking system provided in the application has the following beneficial effects: compared with the prior art, the automatic stacking system provided in the application includes the automatic stacking device provided in any of the technical solutions, so that the automatic stacking system has all the beneficial effects of the automatic stacking device, which will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0022] FIG. 1 is a structural schematic view of an automatic stacking device provided in an embodiment of the application.

[0023] Figure 2 is a schematic diagram of the structure of the rack in the automatic stacking device according to an embodiment of the present application when the rack is in the loading area.

[0024] Figure 3 is a schematic diagram of the structure of the rack in the automatic stacking device according to an embodiment of the present application when the rack is in the unloading area.

[0025] Figure 4 is a schematic diagram of the structure of the rack in the automatic stacking device according to an embodiment of the present application.

[0026] Figure 5 is a schematic diagram of the structure of the rotating mechanism mounted on the support frame in the automatic stacking device according to an embodiment of the present application.

[0027] Figure 6 is a schematic diagram of the structure of the load carrying mechanism mounted on the lifting mechanism in the automatic stacking device according to an embodiment of the present application.

[0028] Figure 7 is a schematic diagram of the structure of the load carrying mechanism and the pusher from one perspective in the automatic stacking device according to an embodiment of the present application.

[0029] Figure 8 is a schematic diagram of the structure of the load carrying mechanism and the pusher from another perspective in the automatic stacking device according to an embodiment of the present application.

[0030] Figure 9 is a schematic diagram of the structure of the load carrying mechanism and the pusher from yet another perspective in the automatic stacking device according to an embodiment of the present application.

[0031] Figure 10 is a schematic diagram of the enlarged view of the part at A in Figure 1.

[0032] The reference numerals in the above figures are listed as follows: 10, material; 20, vehicle to be loaded.

[0033] 110, track; 101, loading area; 102, unloading area; 120, rack; 121, side beam; 122, top beam; 130, support frame; 140, connecting structure.

[0034] 200, rotating mechanism; 210, rotating driver; 220, gear; 230, slewing bearing.

[0035] 300, lifting mechanism; 310, lifting driver; 320, column; 330, lifting frame; 340, sprocket; 350, bearing.

[0036] 400, load carrying mechanism; 410, fork rod; 420, load carrying bracket.

[0037] 500, pusher; 510, push plate; 520, driving member; 530, first connecting member; 540, second connecting member; 550, third connecting member; 560, fourth connecting member.

[0038] 600, feeding mechanism; 610, conveying unit; 611, track; 612, feeding support; 613, feeding driver.

[0039] 700, detecting mechanism. DETAILED DESCRIPTION

[0040] In order to make the technical problems to be solved, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination 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 not intended to limit the present application.

[0041] It should be noted that when an element is referred to as being "fixed" 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.

[0042] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the indicated structure or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0043] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0044] In order to illustrate the technical solutions described in the present application, the following will be described in detail in combination with specific drawings and embodiments.

[0045] As shown in FIGS. 1-3, one embodiment of the present application provides an automatic stacking device and system, which comprises a track 110, a rack 120, a rotating mechanism 200, a lifting mechanism 300 and a carrying mechanism 400; the track 110 is arranged along a conveying direction; the rack 120 is installed on the track 110, and the rack 120 is capable of moving along the track 110 to and from a feeding area 101 and a discharging area 102; the rotating mechanism 200 and the lifting mechanism 300 are drivingly connected, one of the rotating mechanism 200 and the lifting mechanism 300 is installed on the rack 120, and the other is drivingly connected with the carrying mechanism 400; the carrying mechanism 400 is formed with a material conveying port, and the material 10 can enter or move out of the carrying mechanism 400 through the material conveying port; the lifting mechanism 300 is used to drive the carrying mechanism 400 to move along the vertical direction; and the rotating mechanism 200 is used to drive the carrying mechanism 400 to rotate around the vertical axis, so as to make the material conveying port face the feeding area 101 or the discharging area 102. It is worth noting that the conveying direction is the horizontal direction.

[0046] Compared with the related art, the automatic stacking device of the embodiment of the present application, by setting the rotating mechanism 200 and the lifting mechanism 300 drivingly connected with each other, and installing the carrying mechanism 400 on one of the rotating mechanism 200 or the lifting mechanism 300, when the rack 120 moves to the discharging area 102 along the track 110, the carrying mechanism 400 can be directly or indirectly driven by the lifting mechanism 300 to lift, and the carrying mechanism 400 can be directly or indirectly driven by the rotating mechanism 200 to rotate around the vertical axis, so as to adjust the position of the material conveying port of the carrying mechanism 400, to accurately stack the material 10 to the appropriate position, without manual adjustment again, with higher automation and higher stacking efficiency, i.e. higher conveying efficiency. Moreover, the material stack stacked by the automatic stacking device provided by the embodiment of the present application has higher stability and is not easy to collapse in the subsequent conveying process.

[0047] In the working process: as shown in FIGS. 2 and 3, the rack 120 first moves to the feeding area 101 along the track 110, at this time the material conveying port faces the feeding area 101, the material 10 can be sent into the carrying mechanism 400 from the discharging port of the feeding area 101 through the material conveying port, then the carrying mechanism 400 is lifted to a certain height by the lifting mechanism 300, the rack 120 moves to the discharging area 102 along the track 110, the carrying mechanism 400 is driven by the rotating mechanism 200 to rotate around the vertical axis, so that the material conveying port faces the discharging area 102, and the carrying mechanism 400 is lowered to the stacking platform or the material 10 already stacked on the stacking platform by the lifting mechanism 300 again, so as to stack the material 10 on the stacking platform. The stacking platform can be a flat plate on a vehicle to be loaded; or, it can also be the ground; or, it can also be the feeding end of a vertical warehouse.

[0048] The automatic stacking device provided by the embodiments of the present application can be used to load the material 10 onto a vehicle, and can also be used to unload the material 10 from the vehicle. When the automatic stacking device is used to load the material 10 onto a vehicle, the area where the vehicle to be loaded is parked is the unloading area 102, and the area where the material outlet end of the vertical warehouse is located is the loading area 101, and the material 10 in the vertical warehouse is stacked and placed on the flat plate of the vehicle to be loaded by the automatic stacking device. When the automatic stacking device is used to unload the material 10 from the vehicle, the area where the vehicle to be loaded is parked is the loading area 101, and the unloading area 102 can be an empty land, or the unloading area 102 can also be provided with the material inlet end of the vertical warehouse. For the convenience of description, the automatic stacking device is used to load the material 10 onto a vehicle as an example in the following description.

[0049] In some embodiments, as shown in any one of FIGS. 1 to 3, the track 110 can be arranged on the ground, or on the ceiling or other places convenient for installing the track 110. Optionally, the number of the track 110 can be one or more. In an example, the number of the track 110 is two, and the two tracks 110 are arranged in parallel and spaced apart in the first direction on the ground, the first direction being a horizontal direction perpendicular to the conveying direction, and the length direction of the track 110 being 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 spaced apart in the conveying direction.

[0050] As shown in FIG. 4, the rack 120 is a gantry, and the rack 120 includes two side beams 121 arranged spaced apart in the first direction, and a top beam 122 located between the two side beams 121 and connected to the top of the two side beams 121 respectively. The two side beams 121 are arranged one by one corresponding to the two tracks 110, each side beam 121 is slidingly installed on the corresponding track 110, and the two side beams 121 can move synchronously along the corresponding track 110.

[0051] In some embodiments, a roller is installed between each side beam 121 and the track 110, and a walking driver is further installed on each side beam 121, and the output end of the walking driver is connected with the roller. In the embodiments of the present application, the automatic stacking device further includes a controller, the controller is signal connected with the walking drivers on the two side beams 121 respectively, and the walking drivers on the two side beams 121 are synchronously driven by the controller to control the corresponding rollers to rotate, so that the rack 120 moves along the track 110. The walking driver can be a servo driving motor or other structure that can drive the roller to rotate, and the servo driving motor has the advantages of fast response speed and high positioning accuracy, which is beneficial to more accurately control the moving position of the rack 120.

[0052] In some embodiments, the two side beams 121 and the top beam 122 form an installation area, and the rotating mechanism 200, the lifting mechanism 300 and the carrying mechanism 400 are located in the installation area. At least one of the two side beams 121 is provided with a ladder, and the top beam 122 is provided with a maintenance platform, so as to facilitate regular maintenance and repair of the automatic stacking device.

[0053] In some embodiments, as shown in FIG. 1 to FIG. 3, the rotating mechanism 200 is installed on the rack 120, and the lifting mechanism 300 and the carrying mechanism 400 are drivingly connected. Specifically, the rotating mechanism 200 is installed on the top beam 122 of the rack 120. The rotating mechanism 200 is used to drive the lifting mechanism 300 to rotate around a vertical axis, so as to indirectly drive the carrying mechanism 400 to rotate around the vertical axis. The lifting mechanism 300 is used to directly drive the carrying mechanism 400 to move along the vertical direction.

[0054] In some other embodiments, the lifting mechanism 300 is installed on the rack 120, and the rotating mechanism 200 and the carrying mechanism 400 are drivingly connected. Specifically, the lifting mechanism 300 is installed on the top beam 122 of the rack 120. The lifting mechanism 300 is used to drive the rotating mechanism 200 to move along the vertical direction, so as to indirectly drive the carrying mechanism 400 to move along the vertical direction. The rotating mechanism 200 is used to directly drive the carrying mechanism 400 to rotate around the vertical axis.

[0055] For the convenience of description, hereinafter, the rotating mechanism 200 is installed on the rack 120, and the lifting mechanism 300 and the carrying mechanism 400 are drivingly connected as an example for description.

[0056] In some embodiments, as shown in FIG. 5, 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 installed on the rack 120 (specifically, the top beam 122 of the rack 120). Optionally, a support frame 130 is installed on the lower side of the top beam 122, and the rotating driver 210, the gear 220 and the slewing bearing 230 are all installed on the top beam 122 through the support frame 130. The slewing bearing 230 is a ring structure, and a gear ring is formed on the outer circumferential 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 along the vertical direction, the axis of the gear 220 is parallel to the axis of the slewing bearing 230, and the gear 220 is engaged with the gear ring. The gear 220 is connected with the output end of the rotating driver 210, the rotating driver 210 is signal-connected with a controller, and the controller is further used to control the rotating driver 210 to drive the gear 220 to rotate, so as to drive the slewing bearing 230 to rotate. The lifting mechanism 300 is installed on the slewing bearing 230, so as to drive the lifting mechanism 300 and the carrying mechanism 400 connected with the lifting mechanism 300 to rotate through the slewing bearing 230. Optionally, the rotating driver 210 can be a servo driving motor or other structure capable of driving the gear 220 to rotate.

[0057] In some embodiments, as shown in FIG. 6, the lifting mechanism 300 comprises a lifting driver 310 connected with the controller signal, a column 320 and a lifting frame 330, the lifting driver 310 and the column 320 are both mounted on the rotary support 230. Optionally, the lower side of the rotary support 230 is fixedly mounted with the connecting structure 140, and the lifting driver 310 and the column 320 are both mounted on the connecting structure 140. The number of the columns 320 is two, and the two columns 320 are arranged in the first direction. The lifting frame 330 is slidingly mounted between the two columns 320 in the vertical direction, and the lifting driver 310 drives the lifting frame 330 to move in the vertical direction through the chain. The object carrying mechanism 400 is mounted 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 an example, each column 320 is provided with a guide rail extending in the vertical direction, and the lifting frame 330 is slidingly mounted on the guide rails on both sides in the first direction. By providing the guide rails, the lifting frame 330 is guided to move in the vertical direction.

[0058] In some embodiments, the lifting driver 310 is connected with a sprocket 340 on each of the opposite sides in the first direction, each sprocket 340 is mounted with a chain, one end of each chain is connected to the lifting frame 330, and the other end is connected with a tensioning structure. Each chain is tensioned 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, the connecting structure 140 is provided with a bearing 350 in the first direction, and each sprocket 340 is mounted on a different bearing 350. By providing the bearing 350, the rotation stability of the sprocket 340 is improved.

[0059] In a possible design, as shown in FIG. 6, the automatic stacking device further comprises a connecting structure 140, which is in transmission connection with the rotating mechanism 200, and the rotating mechanism 200 is configured to drive the connecting structure 140 to rotate around a vertical axis. The number of the lifting mechanisms 300 and the number of the material carrying mechanisms 400 are both plural, and the plurality of lifting mechanisms 300 are installed on the connecting structure 140 at intervals in the first direction. The plurality of lifting mechanisms 300 and the plurality of material carrying mechanisms 400 are arranged in one-to-one correspondence, and each lifting mechanism 300 is in transmission connection with the corresponding material carrying mechanism 400. In this arrangement mode, only one rotating mechanism 200 can drive the plurality of lifting mechanisms 300 to rotate synchronously, and simultaneously drive the material carrying mechanisms 400 on the lifting mechanisms 300 to rotate synchronously, so that the structure is relatively simple, the production cost is relatively low, and the material transportation efficiency is relatively high. In an embodiment, the number of the lifting mechanisms 300 and the number of the material carrying mechanisms 400 are both two, and the two lifting mechanisms 300 are both installed on the connecting structure 140, and the two material carrying mechanisms 400 are both installed on the corresponding lifting mechanisms 300.

[0060] In some embodiments, when the rack 120 drives the material carrying mechanism 400 carrying the material 10 to move to the discharging area 102, the rack 120 can be moved in the direction opposite to the conveying direction to draw the material carrying mechanism 400 out from below the material 10.

[0061] Alternatively, in a possible design, as shown in FIGS. 6 and 7, the material carrying mechanism 400 is provided with a pusher 500, the pusher 500 comprises a push plate 510 and a driving member 520, the driving member 520 is directly or indirectly connected with the push plate 510, the push plate 510 is opposite to the material conveying port, and the driving member 520 is configured to drive the push plate 510 to move close to or away from the material conveying port, so as to push the material 10 in the material carrying mechanism 400 out of the material carrying mechanism 400. In this arrangement mode, the push plate 510 is driven by the driving member 520 to push the material 10 out of the material carrying mechanism 400, so as to facilitate stacking the material 10 on the stacking platform. In some embodiments, the driving member 520 can be a linear driving structure such as a pneumatic cylinder, an oil cylinder or an electric cylinder.

[0062] In a possible design, as shown in any of FIGS. 7 to 9, the pusher 500 further comprises a first connecting member 530 and a second connecting member 540, one end of the first connecting member 530 is hinged to the material carrying mechanism 400, the other end of the first connecting member 530 is hinged to one end of the second connecting member 540, 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 one of the first connecting member 530 and the second connecting member 540, and the driving member 520 is configured to drive the one connected to the output end to move. For the convenience 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 configured 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 included angle between the first connecting member 530 and the second connecting member 540, adjusting the distance between the connection between the first connecting member 530 and the material carrying mechanism 400 and the connection between the second connecting member 540 and the push plate 510, and driving the push plate 510 to move relative to the material carrying mechanism 400 to approach or move away from the material conveying 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.

[0063] In a possible design, as shown in any of FIGS. 7 to 9, the pusher 500 further includes a third connecting member 550 and a fourth connecting member 560, the carrier 400 is slidably installed with a first sliding member in the vertical direction, and the push plate 510 is slidably installed with a second sliding member in the vertical direction; one end of the third connecting member 550 is hingedly connected to the first sliding member, one end of the fourth connecting member 560 is hingedly connected to the second sliding member, the other end of the third connecting member 550 is hingedly connected to the other end of the fourth connecting member 560, and the third connecting member 550 is hingedly connected to the first connecting member 530, and the fourth connecting member 560 is hingedly connected to the second connecting member 540. As can be seen, 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, that is, 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 carrier 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, 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.

[0064] In a possible design, as shown in FIG. 1, the automatic stacking device further includes a detection mechanism, which is installed on the frame 120 and is used to detect the size and parking position of the vehicle to be loaded. In this arrangement, on the one hand, the detection mechanism 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 driver can be prompted and guided to park the vehicle to be loaded at the correct position through the prompting structure, or the materials 10 can be accurately stacked on the flat plate of the vehicle to be loaded by controlling the frame 120, the rotating mechanism 200 and the lifting mechanism 300, etc., according to the current parking position of the vehicle to be loaded, so that the stability of the material stack is better and is not easy to collapse. On the other hand, the detection mechanism detects the size of the vehicle to be loaded. Since the stacking structure of the materials 10 is reasonably designed, the waste of the stacking space in the vehicle to be loaded is reduced.

[0065] Optionally, the detection mechanism can include a visual feedback structure, for example, a camera is used to take a picture of the vehicle to be loaded to obtain image information of the vehicle to be loaded, so as to calculate the size and parking position of the vehicle to be loaded.

[0066] Alternatively, in one possible design, the detection mechanism comprises a three-dimensional laser scanner, which is installed on the rack 120. The three-dimensional laser scanner scans the front, rear and relative side positions between the front and rear of the vehicle to be loaded to determine the size and parking position of the vehicle to be loaded.

[0067] In some embodiments, the detection mechanism is installed on the rack 120. Specifically, as shown in FIG. 1, the detection mechanism is installed on the top beam 122 of the rack 120, so that the detection mechanism detects the size and parking position of the vehicle to be loaded.

[0068] In one possible design, as shown in FIGS. 6 and 7, the carrying mechanism 400 comprises a plurality of fork rods 410, which are spaced apart along a first direction, which is a horizontal direction perpendicular to the conveying direction. The automatic stacking device further comprises a feeding mechanism 600, which is installed in the loading area 101. The feeding mechanism 600 comprises a plurality of conveying units 610, which are also spaced apart 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 between the adjacent two conveying units 610 to pick up the material 10 on the conveying unit 610. The carrying mechanism 400 provided in the automatic stacking device of this embodiment is not only suitable for carrying box-shaped materials, but also suitable for carrying ton bag materials and materials with pallets, etc., and has higher universality. 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 plurality of conveying units 610 via the discharge end of the vertical warehouse, and the material 10 is transported to the plurality of fork rods 410 by the plurality of conveying units 610.

[0069] In some embodiments, as shown in FIG. 7, the carrying mechanism 400 comprises a carrying bracket 420 and a plurality of fork rods 410, the carrying bracket 420 is installed on the lifting frame 330, the plurality of fork rods 410 are connected to one side of the carrying bracket 420 in the horizontal direction, the plurality of fork rods 410 and the carrying bracket 420 are clamped to form a carrying space, and the side of the plurality of fork rods 410 away from the carrying bracket 420 is the material transport port of the carrying mechanism 400. The first connecting member 530 and the third connecting member 550 are specifically connected with the carrying bracket 420 respectively, and the push plate 510 is specifically located on the side of the carrying bracket 420 connected with the plurality of fork rods 410.

[0070] In some embodiments, as shown in FIGS. 1-3 and 10, the conveying unit 610 comprises a feeding support 612, a track 611 and a feeding driver 613. The feeding support 612 is provided with two pulleys spaced apart along the conveying direction, the track 611 is installed on the two pulleys, and the feeding driver 613 is connected with one of the pulleys. The feeding driver 613 is used to drive the pulley connected therewith to rotate, thereby driving the track 611 to roll. The upper surface of the track 611 is used to support the material 10. When the tracks 611 of the conveying units 610 roll, the material 10 can be moved along the conveying direction. The feeding supports 612 of the two adjacent conveying units 610 are spaced apart along the first direction, so that the prongs 410 can be respectively inserted between the two adjacent conveying units 610, and then the prongs 410 are lifted by the lifting mechanism 300, so that the material 10 is lifted from the feeding mechanism 600 and placed on the prongs 410. It should be noted that the material 10 has been placed in the material loading mechanism 400 when the prongs 410 are respectively inserted between the two adjacent conveying units 610.

[0071] In some embodiments, the number of feeding mechanisms 600 is also multiple, and the feeding mechanisms 600 are arranged one by one with the material loading mechanism 400. Alternatively, the number of feeding mechanisms 600 and the number of material loading mechanisms 400 are both two.

[0072] The working principle of the automatic stacking equipment provided by the embodiments of the present application is as follows: the rack 120 is first moved along the track 110 to the loading area 101. At this time, the prongs 410 in the material loading mechanism 400 are located on the side of the material loading support 420 facing the loading area 101. The lifting mechanism 300 drives the material loading mechanism 400 to move along the vertical direction, so that the prongs 410 are respectively aligned between the two adjacent conveying units 610. The rack 120 is again moved along the track 110 to the direction close to the loading area 101, so that the prongs 410 are inserted into the two adjacent conveying units 610, and the material 10 is located above the prongs 410. The material loading mechanism 400 is driven by the lifting mechanism 300 to move upward, so that the prongs 410 and the material 10 on the prongs 410 are lifted. The rack 120 is moved along the track 110 to the direction close to the unloading area 102. When the rack 120 moves to the unloading area 102, the rotating mechanism 200 drives the lifting mechanism 300 and the material loading mechanism 400 to rotate 180° around the vertical axis, so that the material loading port of the material loading mechanism 400 faces the unloading area 102. The material loading mechanism 400 is again lowered to the stacking platform or the material 10 already stacked on the stacking platform by the lifting mechanism 300. The material 10 is pushed out of the material loading port by the driving piece 520 in the material loading mechanism 400 to push the plate 510, so that the material 10 is stacked on the stacking platform.

[0073] Another embodiment of the present application also provides an automatic loading system comprising the automatic stacking device provided by any of the above embodiments. Compared with the related art, the automatic stacking system of the present application has at least all the beneficial effects of the automatic stacking device provided by any of the above technical solutions, which will not be repeated here.

[0074] The above merely provides optional embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic palletizing apparatus characterized by comprising: The automatic stacking equipment comprises a track, a rack, a rotating mechanism, a lifting mechanism and a carrying mechanism; the track is arranged along a conveying direction; the rack is mounted on the track and can move along the track to and from a loading area and an unloading area; the rotating mechanism and the lifting mechanism are drivingly connected; one of the rotating mechanism and the lifting mechanism is mounted on the rack, and the other is drivingly connected with the carrying mechanism; the carrying mechanism is formed with a material conveying port through which material can enter or move out of the carrying mechanism; the lifting mechanism is used to drive the carrying mechanism to move in a vertical direction; and the rotating mechanism is used to drive the carrying mechanism to rotate about a vertical axis so as to make the material conveying port face the loading area or the unloading area.

2. The automatic palletizing apparatus according to claim 1, wherein A pusher is mounted in the carrying mechanism, and the pusher comprises a push plate and a driving member which is directly or indirectly connected with the push plate; the push plate is opposite to the material conveying port; and the driving member is used to drive the push plate to approach or move away from the material conveying port so as to push the material in the carrying mechanism out of the carrying mechanism.

3. The automatic palletizing apparatus according to claim 2, wherein The pusher further comprises a first connecting member and a second connecting member; one end of the first connecting member is hingedly connected to the carrying mechanism; the other end of the first connecting member is hingedly connected to one end of the second connecting member; the other end of the second connecting member is hingedly connected to the push plate; the driving member is mounted on one of the first connecting member and the second connecting member; and the output end of the driving member is connected with the other of the first connecting member and the second connecting member.

4. The automatic palletizing apparatus according to claim 3, wherein The pusher further comprises a third connecting member and a fourth connecting member; a first sliding member is slidingly mounted on the carrying mechanism in a vertical direction; and a second sliding member is slidingly mounted on the push plate in a vertical direction; one end of the third connecting member is hingedly connected to the first sliding member; one end of the fourth connecting member is hingedly connected to the second sliding member; the other end of the third connecting member is hingedly connected to the other end of the fourth connecting member; the third connecting member is hingedly connected to the first connecting member; and the fourth connecting member is hingedly connected to the second connecting member.

5. The automatic palletizing apparatus according to claim 1, wherein The automatic stacking equipment further comprises a detection mechanism which is mounted on the rack and is used to detect the size and parking position of a vehicle to be loaded.

6. The automatic palletizing apparatus according to claim 5, wherein The detection mechanism comprises a three-dimensional laser scanner which is mounted on the rack.

7. The automatic palletizing apparatus according to claim 1, wherein The carrying mechanism comprises a plurality of fork rods which are arranged at intervals in a first direction; the first direction is a horizontal direction perpendicular to the conveying direction. The automatic stacking equipment further comprises a feeding mechanism which is mounted on the loading area; the feeding mechanism comprises a plurality of conveying units which are also arranged at intervals in the first direction. The distance between any two adjacent fork rods is greater than the width of the conveying units in the first direction, and the distance between any two adjacent conveying units is greater than the width of the fork rods in the first direction.

8. The automatic palletizing apparatus according to any one of claims 1 to 7, characterized in that, The rotating mechanism is installed on the frame, the lifting mechanism is in transmission connection with the object carrying mechanism, the rotating mechanism is used for driving the lifting mechanism to rotate around a vertical axis to drive the object carrying mechanism to rotate around the vertical axis, and the lifting mechanism is used for directly driving the object carrying mechanism to move along the vertical direction.

9. The automatic palletizing apparatus according to claim 8, wherein The automatic stacking equipment further comprises a connecting structure in transmission connection with the rotating mechanism, and the rotating mechanism is used for driving the connecting structure to rotate around a vertical axis. The number of the lifting mechanisms and the number of the object carrying mechanisms are both plural, the plurality of lifting mechanisms are installed on the connecting structure along a first direction at intervals, the plurality of lifting mechanisms and the plurality of object carrying mechanisms are arranged in one-to-one correspondence, and each lifting mechanism is in transmission connection with the corresponding object carrying mechanism.

10. An automated railcar loading system characterized by, The automatic stacking equipment comprises the automatic stacking equipment according to any one of claims 1 to 9.

Images