A height-adjustable self-propelled loading and unloading device and loading and unloading method thereof

Abstract

The present invention discloses a height-adjustable self-propelled loading and unloading device and a loading and unloading method thereof. The device includes a frame, a main roller platform, a telescopic suction cup unit, an auxiliary roller platform, and a vertical displacement unit; the telescopic suction cup unit includes a telescopic assembly and a suction cup assembly; the vertical displacement unit is located on the frame; the main roller platform and the telescopic suction cup unit are located on the same side of the vertical displacement unit; the auxiliary roller platform is installed on the frame through a lifting mechanism; the main roller platform and the auxiliary roller platform can form a conveyor line. When unloading, the telescopic assembly pushes the suction cup assembly to absorb the goods, pulls them to the main roller platform, and transports them to the auxiliary roller platform; when loading, the goods are transported from the auxiliary roller platform to the main roller platform, and the telescopic assembly pushes the suction cup assembly to contact the goods and pushes them to the loading platform. The present invention occupies a small space and has high flexibility, especially being able to load or unload a whole row of multiple goods at the same time, and each platform and unit operates independently, which improves the loading and unloading efficiency and ensures the safety during loading and unloading.

Description

Technical Field

[0001] The invention belongs to the technical field of logistics and transportation, and relates to a loading and unloading device, in particular to a height-adjustable self-propelled loading and unloading device and a loading and unloading method thereof. Background Art

[0002] Mechanical loading and unloading can not only reduce physical labor and human resources, but also effectively improve work efficiency.

[0003] In recent years, mechanical loading and unloading devices have been promoted to a certain extent. Patent CN203112153U discloses a palletizing robot, including a base, a frame, an arm mechanism, a gripper and an adjustment mechanism for controlling the gripper movement. Its working range is small, there are working dead angles, and the grabbing capacity is low. Patent CN206126296U discloses an automatic grabbing and conveying device for packaging materials, including a universal conveyor belt, and an automatic grabbing robot is provided on one side of the universal conveyor belt, which can be rotated and moved at will, and can also realize multiple turns and conveying. Patent CN206126297U discloses a rotary high-speed handling robot, including a vertically arranged screw, and a pallet is mounted on the outer side of the screw. The pallet can move up and down along the screw, and a handling arm is rotatably connected above the pallet. The handling arm rotates a certain angle to place the goods on the conveyor belt. It can be seen that the existing device cannot load and unload a whole row of multiple goods at the same time, the loading and unloading efficiency is low, and it occupies a large area and has poor convenience and mobility.

[0004] Therefore, it is necessary to develop new loading and unloading devices that can realize the simultaneous unloading of multiple cargoes in rows, as well as the loading of multiple cargoes in rows, and are suitable for cargo stacks of different heights. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide a height-adjustable self-propelled loading and unloading device and a loading and unloading method thereof. The device of the present invention occupies a small space and has high flexibility. In particular, it is capable of loading or unloading a whole row of multiple goods at the same time. Each platform and unit operates independently, thereby improving the loading and unloading efficiency.

[0006] The present invention adopts the following technical solution:

[0007] A height-adjustable self-propelled loading and unloading device comprises a frame, a main roller platform, a telescopic suction cup unit, an auxiliary roller platform, and a vertical displacement unit; the telescopic suction cup unit comprises a telescopic assembly and a suction cup assembly located on the telescopic assembly; the vertical displacement unit is located on the frame; the main roller platform and the telescopic assembly are respectively located on the vertical displacement unit; the main roller platform is located below the telescopic suction cup unit; the main roller platform and the telescopic suction cup unit are located on the same side of the vertical displacement unit; the auxiliary roller platform is mounted on the frame by a lifting mechanism; the main roller platform and the auxiliary roller platform can form a conveyor line.

[0008] In the present invention, the main roller platform and the auxiliary roller platform form a conveyor line, which means that the main roller platform and the auxiliary roller platform form a continuous conveyance, and convey the goods from the main roller platform to the auxiliary roller platform, or convey the goods from the auxiliary roller platform to the main roller platform. The vertical displacement unit is used to drive the main roller platform and the telescopic suction cup unit to move up and down to suit the loading and unloading of goods at different heights; the telescopic suction cup unit is used to absorb and push and pull goods, and has the functions of loading and unloading; the lifting mechanism is used to drive the auxiliary roller platform to move up and down, and cooperate with the main roller platform to form a conveyor line, and the main roller platform and the auxiliary roller platform are independent of each other, and the loading and unloading and conveying of goods do not affect each other, so as to improve the conveying efficiency.

[0009] In the present invention, the telescopic assembly includes a driving device, and the suction cup assembly can be directly mounted on the driving device or mounted on the driving device through a transmission device. The suction cup assembly is directly mounted on the driving device, for example, the driving device uses a telescopic motor, and the suction cup assembly is mounted on the telescopic motor; preferably, the suction cup assembly is mounted on the driving device through a transmission device, the driving device uses a rotating motor, and the transmission device uses a reducer, the reducer includes a conventional component rocker arm, the reducer is connected to the rotating motor, the suction cup assembly is mounted on the rocker arm of the reducer, and the reducer is driven to work by the rotating motor, thereby realizing the front and rear displacement of the suction cup assembly and improving the working stability of the device.

[0010] Preferably, the vertical displacement unit includes a vertical displacement driving device; the main roller platform and the telescopic assembly are arranged on different vertical displacement driving devices. The vertical displacement driving device is used to drive the main roller platform and the telescopic suction cup unit to move up and down. The main roller platform and the telescopic assembly are arranged on different vertical displacement driving devices to control the up and down displacement of the main roller platform and the telescopic suction cup unit respectively. The main roller platform and the telescopic suction cup unit are independent of each other and do not affect each other during actual operation, thereby improving loading and unloading efficiency. The main roller platform and the telescopic assembly can be directly installed on the vertical displacement driving device, and can also be installed on the movable part through conventional connecting parts. The movable part is installed on the vertical displacement driving device. For example, a fixed column is set on the frame, and the main roller platform and the telescopic assembly are arranged in the sliding column of the movable part through the connecting member slider. The sliding column is arranged in the fixed column. The sliding column and the fixed column are both hollow structures. The sliding column is connected to the driving end of the vertical displacement driving device, a pulley is arranged on the top of the sliding column, and a chain is arranged on the vertical displacement driving device. The chain bypasses the pulley and is connected to the slider. The driving end of the vertical displacement driving device drives the sliding column to move in the fixed column, thereby driving the chain connected to the sliding column to move, and then driving the slider connected to the chain to move, so as to realize the displacement of the main roller platform and the telescopic suction cup unit.

[0011] Preferably, the upper part of the suction cup assembly is slidably connected to the telescopic assembly, and the lower part is fixedly connected to the telescopic assembly. The suction cup assembly includes a plurality of suction cups. After the suction cups absorb the goods, the vertical displacement unit drives the telescopic suction cup unit to lift up, and the suction cup assembly is inclined at a certain angle, so that the contact area between the goods and the lower layer of goods and the main roller platform can be reduced during the process of the suction cups absorbing and pulling the goods, so that the telescopic assembly can move the goods to the main roller platform.

[0012] Preferably, the main roller platform and the auxiliary roller platform are located on both sides of the vertical displacement unit; the main roller platform includes a transverse main roller group and a longitudinal main roller group; the auxiliary roller platform includes a transverse auxiliary roller group and a longitudinal auxiliary roller group; the longitudinal main roller group and the longitudinal auxiliary roller group can form a conveyor line; the frame is provided with a cargo entry and exit platform; the cargo entry and exit platform and the auxiliary roller platform can form a conveyor line. In practical applications, the cargo entry and exit platform can be a roller group or a conveyor belt. The main roller platform and the auxiliary roller platform are located on both sides of the vertical displacement unit, the main roller platform, the auxiliary roller platform, and the cargo entry and exit platform are arranged in sequence, the longitudinal main roller group is aligned with the longitudinal auxiliary roller group, and the longitudinal auxiliary roller group is aligned with the cargo entry and exit platform to form a continuous conveyor line, the transverse main roller group and the transverse auxiliary roller group drive the transverse displacement of the cargo, and the longitudinal main roller group and the longitudinal auxiliary roller group drive the longitudinal displacement of the cargo.

[0013] Preferably, the transverse main roller group includes two or more transverse main drive rollers; the transverse auxiliary roller group includes two or more transverse auxiliary drive rollers. The rotation direction of the transverse main drive rollers can be consistent, or the rotation direction of some transverse main drive rollers can be opposite to the rotation direction of the remaining transverse main drive rollers. When the rotation directions of the transverse main drive rollers are consistent, the rotation directions of the transverse auxiliary drive rollers are consistent, and the goods on the platform are transported in the same direction; when the rotation directions of some transverse main drive rollers are opposite to the rotation directions of the remaining transverse main drive rollers, the rotation directions of some transverse auxiliary drive rollers are opposite to the rotation directions of the remaining transverse auxiliary drive rollers, and the goods on the platform are transported in opposite directions, that is, at both ends. Preferably, the rotation directions of some transverse main drive rollers are opposite to the rotation directions of the remaining transverse main drive rollers, and the rotation directions of some transverse auxiliary drive rollers are opposite to the rotation directions of the remaining transverse auxiliary drive rollers, and the goods on the platform are transported in opposite directions, that is, at both ends, to improve the transportation efficiency.

[0014] Preferably, the main roller platform further comprises a front roller group; the conveying direction of the front roller group is consistent with the telescopic direction of the telescopic assembly. The front roller group is arranged at the front end of the main roller platform, so that the telescopic suction cup unit can pull the adsorbed goods onto the main roller platform or push the goods onto the loading platform.

[0015] Preferably, the auxiliary roller platform is provided with a controllable limiter. Further preferably, the controllable limiters are 2 to 10, more preferably, the controllable limiters are 2 to 5, and more preferably, the controllable limiters are 3 to 4. The controllable limiter is located in the middle area of ​​the auxiliary roller platform. If the rotation direction of some transverse main drive rollers is opposite to the rotation direction of the remaining transverse main drive rollers, correspondingly, the rotation direction of some transverse auxiliary drive rollers is opposite to the rotation direction of the remaining transverse auxiliary drive rollers, the goods will be transported from both ends of the main roller platform to the auxiliary roller platform, or from both ends of the auxiliary roller platform to the main roller platform. For example, there are three controllable limit members, which are located on the middle left, middle right, and middle back of the auxiliary roller platform respectively. When the goods are transported from both ends of the main roller platform to the auxiliary roller platform, the controllable limit member on the middle left is started. After the goods on the right end are transported, the controllable limit member on the middle left is closed, and the controllable limit member on the middle right is started to complete the transportation of the goods on the left end. The controllable limit members are used to ensure the transportation order and avoid disorder in the transportation order of goods on the auxiliary roller platform, which affects the normal operation of the device.

[0016] As common sense, the main roller platform and the auxiliary roller platform both include frames, and the roller groups of each platform are respectively arranged in their corresponding frames. If the cargo entry and exit platform is a roller group, the cargo entry and exit platform also includes a frame, and the roller group is arranged in the frame.

[0017] Preferably, the height-adjustable self-propelled loading and unloading device further comprises one or both of a walking chassis unit and a traction drive unit. The walking chassis unit is arranged on a frame, and the walking chassis unit comprises walking wheels, and the walking wheels are arranged on the frame in a liftable manner, and at least one of the walking wheels is a driving walking wheel; the walking chassis unit further comprises a walking chassis frame and a connecting rod driving device, and the walking chassis frame is arranged on the frame through a connecting rod structure, and the connecting rod driving device is connected to the connecting rod structure, and the walking wheels are arranged on the walking chassis frame. The traction drive unit comprises a traction wheel and a lifting assembly; one end of the lifting assembly is connected to the frame, and the other end is provided with a bracket; the traction wheel is arranged on the bracket; the lifting assembly comprises a handle and a lifting device controlled by the handle; one end of the lifting device is connected to the frame, and the other end is provided with a bracket.

[0018] In the present invention, the driving wheel is arranged on the walking chassis frame, and one end close to the traction drive unit is preferably connected to the rigid shaft of the walking chassis frame, that is, the driving wheel cannot be turned, and the end of the walking chassis frame away from the traction drive unit is the driven wheel. The lifting device includes a spring and a cylinder, one end of the spring is connected to the frame, and the other end is connected to the bracket, and one end of the cylinder is rotatably connected to the frame, and the other end is connected to the bracket. The traction drive unit is used to manually pull the device to the loading and unloading point. During the traction stage, the driven wheel and the traction wheel are in contact with the ground. Since the driving wheel is connected by a rigid shaft, the device cannot touch the ground when turning. Press the handle, the oil cylinder drives the traction wheel to move vertically downward, overcome the spring tension, and make the driving wheel leave the ground. Only the traction wheel and the driven wheel are in contact with the ground. The device is in a tilted state. The operator controls the handle to control the steering of the traction wheel and moves the device to the loading and unloading point. The device and the cargo are opposite to each other. The oil pressure of the oil cylinder is removed. The traction wheel moves vertically upward under the action of the spring, and the traction wheel is separated from the ground. The driving wheel and the driven wheel are in contact with the ground. The operator sets the device to enter the autonomous working stage. The driving wheel adopts a rigid shaft connection method, so that the driving wheel does not have a steering function, so as to ensure that the device maintains a straight line during the autonomous working stage to avoid deviation. At the same time, it can reduce production costs and facilitate industrial applications.

[0019] In the present invention, the walking chassis unit is used to drive the device to walk in the autonomous working stage. When loading and unloading goods, the connecting rod driving device drives the connecting rod structure to drive the walking chassis unit off the ground, so that the frame contacts the ground, which improves the stability of the device compared to the walking wheels touching the ground.

[0020] As common sense, the height-adjustable self-propelled loading and unloading device also includes a non-contact laser radar sensor, a pressure sensor, and a photoelectric sensor. The non-contact laser radar sensor is used to measure the lifting height of the main roller platform, the auxiliary roller platform, and the telescopic suction cup unit, and feeds back to the controller, which controls the hydraulic station to control the lifting and lowering of the main roller platform, the auxiliary roller platform, and the telescopic suction cup unit. The non-contact laser radar sensor then feeds back the height information of the main roller platform, the auxiliary roller platform, and the telescopic suction cup unit to achieve closed-loop control of height control; the pressure sensor is used to measure the hydraulic oil pressure and feed it back to the controller to ensure the normal operation of the hydraulic station system; the photoelectric sensor is used to measure the position of the cargo and feed it back to the controller, which controls the start and stop of the controllable limiter.

[0021] The present invention also includes conventional components such as an electrical control box, an operation control box, a pneumatic control box and a hydraulic station. The electrical control box is provided with conventional electrical components, such as a controller, etc., for controlling the operation of each unit. The operation control box is provided with a conventional touch screen for operators to operate, set and control the present invention. The pneumatic control box is provided with conventional pneumatic components, such as a vacuum pump, etc., for generating a vacuum so that the suction cup can absorb the goods. The hydraulic station includes conventional hydraulic components, such as a hydraulic motor, etc., for controlling the driving equipment of each unit. The above components are all existing products, and the specific use methods and control methods are conventional technologies, as long as the functions of each component can be achieved.

[0022] The present invention discloses a method for loading and unloading using the height-adjustable self-propelled loading and unloading device, wherein the loading and unloading method includes one or both of a loading method and an unloading method;

[0023] The unloading method comprises the following steps: controlling the vertical displacement unit to drive the main roller platform and the telescopic suction cup unit thereon to move to the highest row of the cargo facade, controlling the telescopic assembly to push the suction cup assembly to move forward and absorb the cargo, and then moving backward to the main roller platform; when the cargo to be absorbed is partially or completely on the main roller platform, controlling the suction cup assembly to separate from the cargo; controlling the displacement of the main roller platform and the auxiliary roller platform, the two are in the same plane to form a conveying line, and the cargo is conveyed from the main roller platform to the auxiliary roller platform, and repeating the above steps to complete the unloading;

[0024] The loading method comprises the following steps: controlling the main roller platform and the auxiliary roller platform to be in the same plane to form a conveyor line, with the goods being located on the auxiliary roller platform and being conveyed from the auxiliary roller platform to the main roller platform; controlling the vertical displacement unit to drive the main roller platform and the telescopic suction cup unit thereon to move to the lowest working position, controlling the telescopic assembly to push the suction cup assembly to move forward and contact the goods, pushing the goods to fall onto the loading platform, repeating the above steps to complete the loading.

[0025] Preferably, a cargo entry and exit platform is provided on the frame, and the cargo entry and exit platform and the auxiliary roller platform can form a conveyor line; when loading or unloading, the cargo entry and exit platform and the auxiliary roller platform are in the same plane, and the goods are conveyed from the cargo entry and exit platform to the auxiliary roller platform, or the goods are conveyed from the auxiliary roller platform to the cargo entry and exit platform.

[0026] Preferably, a traveling chassis unit is provided on the frame, the traveling chassis unit includes traveling wheels, and the frame and the traveling chassis unit are connected by a connecting rod structure; when loading or unloading, the connecting rod structure drives the traveling chassis unit to move upward, the traveling wheels leave the ground, and the frame contacts the ground.

[0027] The present invention discloses the application of the height-adjustable self-propelled loading and unloading device in loading and unloading; the loading and unloading includes one or both of loading and unloading. Preferably, the height-adjustable self-propelled loading and unloading device is applied in continuous loading and unloading of goods. Further preferably, the height-adjustable self-propelled loading and unloading device is applied in continuous loading and unloading of rows of goods.

[0028] The beneficial effects of the present invention are:

[0029] (1) The automated loading and unloading method is more efficient than the manual loading and unloading method and can meet the needs of modern production. In particular, the present invention can load and unload a whole row of multiple goods at the same time, greatly improving the loading and unloading efficiency;

[0030] (2) The main roller platform and the auxiliary roller platform of the present invention can be lifted and lowered, and each roller platform is independent of each other, so loading and unloading and conveying do not affect each other, which further improves the loading and unloading efficiency;

[0031] (3) The upper part of the suction cup assembly of the present invention is slidably connected to the telescopic assembly, and the lower part is fixedly connected to the telescopic assembly. When the telescopic suction cup unit is lifted upward, it will be inclined at a certain angle, which can reduce the contact area between the goods and the lower goods and the main roller platform during the suction cup sucking and pulling the goods, making it easier for the telescopic assembly to move the goods to the main roller platform, avoiding the goods being too heavy and falling off during the displacement process, thereby improving the safety and stability of the device;

[0032] (4) By setting up a walking chassis unit, the device can be driven to move during the autonomous working stage, and can be retracted up and down during the loading and unloading process, so that the frame contacts the ground, further improving the stability of the device and making it more flexible and reliable;

[0033] (5) The driving wheels of the present invention are connected by a rigid shaft, which can ensure that the device maintains a straight line during the autonomous working stage and avoids deviation. At the same time, it can reduce production costs and facilitate industrial applications.

[0034] (6) By setting up a traction drive unit, the operator can tow the device to any loading and unloading point, which is convenient to use and highly flexible;

[0035] (7) Compared with the straight conveyor line of the existing device, the conveyor line of the present invention is a "loop type", which occupies a smaller area and is suitable for loading and unloading of various forms of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the height-adjustable self-propelled loading and unloading device of the first embodiment.

[0037] Figure 2 yes Figure 1 The second state diagram.

[0038] Figure 3 yes Figure 2 Enlarged schematic diagram of part A in the middle.

[0039] Figure 4 It is a top view of the height-adjustable self-propelled loading and unloading device of the first embodiment.

[0040] Figure 5 yes Figure 4 Enlarged schematic diagram of part A in the middle.

[0041] Figure 6 yes Figure 4 Enlarged schematic diagram of part B in the middle.

[0042] Figure 7 It is a left side view of the height-adjustable self-propelled loading and unloading device of the first embodiment.

[0043] Figure 8 It is a right side view of the height-adjustable self-propelled loading and unloading device of the first embodiment.

[0044] Fig. 9 It is a schematic diagram of the structure of the rack.

[0045] Fig.10 It is a structural schematic diagram of the frame, the traveling chassis unit, and the traction drive unit.

[0046] Fig.11 It is a right side view of the height-adjustable self-propelled loading and unloading device in the traction stage.

[0047] Wherein: frame 1, walking chassis unit 2, traction drive unit 3, electrical control box 4, operation control box 5, pneumatic control box 6, main roller platform 7, telescopic suction cup unit 8, auxiliary roller platform 9, vertical displacement unit 10, hydraulic station 11, cargo access platform 12, fixed column 101, fixed column connecting rod 102, frame chassis 103, walking chassis frame limiter 104, bracket limiter 105, spring lifting ear 106, jacking cylinder support ear 107, walking chassis frame 201, first connecting rod structure 202, second connecting rod structure 203, first walking chassis cylinder 204, second Chassis cylinder 205, chassis drive motor 206, first driving wheel 207, second driving wheel 208, first driven wheel 209, second driven wheel 210, bracket 301, traction wheel 302, handle 303, first spring 304, second spring 305, first lifting cylinder 306, second lifting cylinder 307, lifting cylinder hydraulic oil pipe 308, steering rod 309, first auxiliary wheel 310, second auxiliary wheel 311, traction drive controller 312, electrical control box 401, first emergency stop switch 402, external power socket 403, working state Indicator light 404, operation control box 501, touch screen 502, second emergency stop switch 503, power status indicator light 504, pneumatic control box 601, main roller platform frame 701, transverse main roller group 702, longitudinal main roller group 703, front roller group 704, collision sensor 705, telescopic suction cup unit frame 801, reducer motor 802, reducer 803, reducer shaft 804, reducer rocker arm 805, transverse slider 806, transverse slider guide rail 807, suction cup frame connecting rod group 808, suction cup frame 809, suction cup panel 810, suction cup group 811, hinge support 812, sliding support 813, auxiliary roller platform frame 901, transverse auxiliary roller group 902, longitudinal auxiliary roller group 903, first motor 904, second motor 905, third motor 906, auxiliary roller platform cylinder 907, auxiliary roller platform lifting connecting rod group 908, sliding column 1001, vertical slider 1002, chain 1003, first telescopic cylinder 1004, second telescopic cylinder 1005, third telescopic cylinder 1006, fourth telescopic cylinder 1007, fixed pulley 1008, cargo entry and exit roller platform frame 1201, longitudinal cargo entry and exit roller group 1202. DETAILED DESCRIPTION

[0048] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The specific components involved are existing products, conventional mounting holes are provided on the specific components, and the connection and use methods between the specific components are conventional technologies.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present invention belongs; the terms used in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the directions or positions indicated by the terms "length", "width", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings, which are only for the convenience of description and cannot be understood as limitations on the present technical solution. In the present invention, the main roller platform, the auxiliary roller platform, and the cargo entry and exit platform are arranged front and back, the electrical control box is located on the left, and the operation control box is located on the right.

[0050] As common sense, the number of driving rollers of the main roller platform and the auxiliary roller platform in the present invention is designed according to actual needs, as long as the function of cargo transportation of the present invention can be met.

[0051] The terms "first", "second", "third", "fourth" and the like in the specification and claims of the present invention or the above drawings are used to distinguish different objects rather than to describe a specific order. Embodiment 1

[0052] like Figures 1 to 11 As shown:

[0053] A height-adjustable self-propelled loading and unloading device comprises a frame 1 and a walking chassis unit 2, a traction drive unit 3, an electrical control box 4, an operation control box 5, a pneumatic control box 6, a main roller platform 7, a telescopic suction cup unit 8, an auxiliary roller platform 9, a vertical displacement unit 10, a hydraulic station 11, and a cargo entry and exit platform 12.

[0054] The frame 1 includes 8 fixed columns 101, a fixed column connecting rod 102, a frame chassis 103, a walking chassis frame limiter 104, a bracket limiter 105, a spring lifting ear 106, and a lifting cylinder supporting ear 107. The frame chassis 103 is a frame structure for installing other components of the present invention; the fixed column 1101 is arranged on the frame chassis 103, and is used to limit the sliding column 1001 so that it can only slide in the vertical direction inside the fixed column 1101; the fixed column connecting rod 102 is connected to the fixed column 1101, and is used to fix the fixed column 1101 to ensure the structural strength and the stability of the device operation; the walking chassis frame limiter 104 is arranged on the frame chassis 103, and is used to limit the walking chassis unit 2 so that it can only move in the vertical direction; the bracket limiter 105 is arranged on the frame chassis 103, and is used to limit the traction drive unit 3 so that it can only move in the vertical direction; the spring hanging ear 106 is arranged on the frame chassis 103, and is used to hang the first spring 304 and the second spring 305; the lifting cylinder support ear 107 is arranged on the frame chassis 103, and is used to support the first lifting cylinder 306 and the second lifting cylinder 307.

[0055] The traveling chassis unit 2 includes a traveling chassis frame 201, a first connecting rod structure 202, a second connecting rod structure 203, a connecting rod driving device, and traveling wheels. The connecting rod driving device includes a first traveling chassis cylinder 204, a second traveling chassis cylinder 205, and the traveling wheels include a first driving traveling wheel 207, a second driving traveling wheel 208, a first driven traveling wheel 209, and a second driven traveling wheel 210. The walking chassis frame 201 is a frame structure for installing other components of the unit; the first driving walking wheel 207 and the second driving walking wheel 208 are arranged on the walking chassis frame 201, close to one end of the traction drive unit 3, the first driving walking wheel 207 and the second driving walking wheel 208 are connected to the same transmission shaft, the transmission shaft is connected to the walking chassis driving motor 206, the walking chassis driving motor 206 drives the first driving walking wheel 207 and the second driving walking wheel 208 to rotate synchronously, thereby driving the walking of the autonomous working stage of the present invention; the first driven walking wheel 209 and the second driven walking wheel 210 are arranged on the walking chassis frame 201, away from one end of the traction drive unit 3, and rotate with the first driving walking wheel 207 and the second driving walking wheel 208; the first connecting rod structure 202 and the first walking chassis oil cylinder 204 The first connecting rod structure 202 and the second walking chassis oil cylinder 205 are arranged symmetrically along the central axis, and the movements of the two are consistent and synchronous. The first connecting rod structure 202 and the second connecting rod structure 203 are multi-link structures. The first connecting rod structure 202 connects the frame chassis 103, the walking chassis frame 201 and the first walking chassis oil cylinder 204. The second connecting rod structure 203 connects the frame chassis 103, the walking chassis frame 201 and the second walking chassis oil cylinder 205. The first walking chassis oil cylinder 204 and the second walking chassis oil cylinder 205 are connecting rod driving devices of the first connecting rod structure 202 and the second connecting rod structure 203 respectively, which are used to drive the first connecting rod structure 202 and the second connecting rod structure 203, and drive this unit to move vertically upward under the restriction of the walking chassis frame limiter 104 until the frame chassis 103 contacts the ground. The walking chassis drive motor 206 is hydraulically driven and can also be electrically driven in actual applications. The first walking chassis cylinder 204 and the second walking chassis cylinder 205 are hydraulic cylinders and can also be other types of cylinders in actual applications, such as motion actuators. As long as they can drive the movement of the connecting rod structure, it will not affect the realization of the technical effects of the present invention.

[0056] The traction drive unit 3 includes a bracket 301, a traction wheel 302, and a jacking assembly. The jacking assembly includes a handle 303 and a jacking device controlled by the handle 303. The jacking device includes a first spring 304, a second spring 305, a first jacking cylinder 306, a second jacking cylinder 307, and a jacking cylinder hydraulic oil pipe 308. The bracket 301 is a crossbeam structure, which is connected to the frame chassis 103 through a jacking device and is used to install other components of the unit; the first spring 304 and the first jacking cylinder 306, the second spring 305 and the second jacking cylinder 307 are symmetrically installed at both ends of the upper surface of the bracket 301, respectively, the first spring 304 and the second spring 305 are connected to the spring hanging ear 106, respectively, the first jacking cylinder 306 is fixedly connected to the jacking cylinder support ear 107, and the second jacking cylinder 307 is rotatably connected to the jacking cylinder support ear 107. In actual application, the first jacking cylinder 306 can also be rotatably connected to the jacking cylinder support ear 107. The first jacking cylinder 306 and the second jacking cylinder 307 are connected by the jacking cylinder hydraulic The two wheels are connected by a pressure oil pipe 308, and their movements are consistent and synchronous; the traction wheel 302 is rotatably arranged on the bracket 301, and the handle 303 is connected to the second lifting cylinder 307. The traction wheel 302 is connected to the second lifting cylinder 307 through a steering rod 309. When the handle 303 is turned, the second lifting cylinder 307 rotates synchronously, thereby driving the traction wheel 302 to turn through the steering rod 309. When the handle 303 is pressed, the first lifting cylinder 306 and the second lifting cylinder 307 perform synchronous lifting movements; the first auxiliary wheel 310 and the second auxiliary wheel 311 are symmetrically arranged at both ends of the lower surface of the bracket 301. The two wheels have the same specifications and are universal casters with buffers, which are used to maintain the balance of the traction walking stage of the present invention.

[0057] In this embodiment, the traction wheel 302 is a driving wheel, and the power source is a battery (existing product) installed on the frame chassis 103. The specific connection method and use method are existing technologies. The handle 303 is provided with a traction drive controller 312 for controlling the forward rotation, reverse rotation and braking of the traction wheel drive motor. The traction wheel 302 can also be a driven wheel. It can be selected according to needs in actual application without affecting the realization of the technical effect of the present invention. The first spring 304 and the second spring 305 have the same specifications and are tension springs. They are used to lift the traction drive unit 3 when the first lifting cylinder 306 and the second lifting cylinder 307 are not in action, so that the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 are not in contact with the ground.

[0058] The main roller platform 7 and the auxiliary roller platform 9 are located on both sides of the vertical displacement unit 10. The main roller platform 7, the auxiliary roller platform 9, and the cargo entry and exit platform 12 are arranged in sequence to form a conveyor line.

[0059] The main roller platform 7 includes a main roller platform frame 701 , a transverse main roller group 702 , a longitudinal main roller group 703 , a front roller group 704 , and a collision sensor 705 . The main roller platform frame 701 is arranged on the corresponding vertical slider 1002, and is synchronously driven by the first telescopic oil cylinder 1004 and the fourth telescopic oil cylinder 1007. The vertical slider 1002 slides up and down in the sliding column 1001, thereby driving the main roller platform 7 to move up and down; the front roller group 704 is installed at the front end of the main roller platform frame 701, so that the telescopic suction cup unit 8 can pull the adsorbed goods to the main roller platform 7 or push the goods to the loading platform; the longitudinal main roller group 703 is installed at the left and right ends of the main roller platform frame 701, and the transverse main roller group 702 is installed in the main roller platform frame 701, located inside the front roller group 704 and the longitudinal main roller group 703; the conventional electrical control box 4 conventionally controls the rotation direction of the driving rollers on the transverse main roller group 702, which can rotate in the same direction to realize the transportation of goods to one end of the main roller platform 7, or the rotation direction of some driving rollers is opposite to the rotation direction of the remaining driving rollers to realize the transportation of goods to both ends of the main roller platform 7. In this embodiment, the driving rollers rotate in the same direction during loading, and the goods are transported from one end of the auxiliary roller platform 9 to the main roller platform 7; when unloading, the rotation direction of half of the driving rollers is opposite to that of the remaining driving rollers, and the goods are transported from both ends of the main roller platform 7 to the auxiliary roller platform 9. The collision sensor 705 is arranged on the front side of the main roller platform frame 701, facing the vertical plane of the goods, and is a flexible belt sensor (existing product). The length is consistent with the length of the main roller platform frame 701. After colliding with the goods, a signal is generated and transmitted to each control box, and each control box controls the operation of each component of the present invention to realize the autonomous operation of the present invention. The specific connection method and use method are conventional technologies.

[0060] The auxiliary roller platform 9 is installed on the frame chassis 103 through a lifting mechanism, and includes an auxiliary roller platform frame 901, a transverse auxiliary roller group 902, a longitudinal auxiliary roller group 903 and a controllable limit member. There are three controllable limit members, including a first motor 904, a second motor 905, and a third motor 906. A controllable connecting rod connected to the baffle is provided at the motor shaft end of each motor. When the motor is turned on, the controllable connecting rod drives the baffle to rise. The lifting mechanism includes an auxiliary roller platform oil cylinder 907 and an auxiliary roller platform lifting connecting rod group 908. The auxiliary roller platform frame 901 is installed on the auxiliary roller platform lifting connecting rod group 908. The auxiliary roller platform lifting connecting rod group 908 is a scissor-fork lifting structure. The auxiliary roller platform oil cylinder 907 drives the auxiliary roller platform lifting connecting rod group 908 to lift and lower, thereby driving the auxiliary roller platform 9 to move vertically up and down, so that the auxiliary roller platform 9 and the main roller platform 7 or the cargo entry and exit platform 12 are on the same horizontal plane, loading or unloading and conveying are not affected, thereby improving the conveying efficiency; The transverse auxiliary roller group 902 and the longitudinal auxiliary roller group 903 are installed in the auxiliary roller platform frame 901. The longitudinal auxiliary roller group 903 is aligned with the longitudinal main roller group 703 and the longitudinal goods in-and-out roller group 1202 to form a conveyor line. The conventional electrical control box 4 conventionally controls the rotation direction of the driving rollers on the transverse auxiliary roller group 902. The driving rollers can rotate in the same direction to realize the conveyance of goods to one end of the auxiliary roller platform 9, or the rotation direction of some driving rollers is opposite to the rotation direction of the remaining driving rollers to realize the conveyance of goods to both ends of the auxiliary roller platform 9. In this embodiment, the rotation direction of the driving rollers is consistent during loading, and the goods are conveyed from one end of the auxiliary roller platform 9 to the main roller platform 7; when unloading, the rotation direction of half of the driving rollers is opposite to the rotation direction of the remaining driving rollers, and the goods are conveyed from both ends of the main roller platform 7 to the auxiliary roller platform 9. The first motor 904, the second motor 905, and the third motor 906 are installed in the auxiliary roller platform frame 901, located in the middle area of ​​the auxiliary roller platform 9, and orderly control the start and stop of the motors to realize the transmission and accumulation of goods. For example, when the first motor 904 is turned on, the second motor 905 and the third motor 906 are turned off, or when the second motor 905 is turned on, the first motor 904 and the third motor 906 are turned off, to ensure the orderly transportation of goods.

[0061] The cargo entry and exit platform 12 is arranged on the frame chassis 103 and can form a conveyor line with the auxiliary roller platform 9, including a cargo entry and exit roller platform frame 1201 and a longitudinal cargo entry and exit roller group 1202 installed on the cargo entry and exit roller platform frame 1201.

[0062] The telescopic suction cup unit 8 includes a telescopic component and a suction cup component located on the telescopic component. The telescopic component includes a telescopic suction cup unit frame 801, a reducer motor 802, a reducer 803, a reducer shaft 804, a reducer rocker arm 805, a transverse slider 806, a transverse slider guide 807, a suction cup frame connecting rod group 808, and a suction cup frame 809. The suction cup assembly includes a suction cup panel 810 and a suction cup group 811. The telescopic suction cup unit frame 801 is arranged on the corresponding vertical slider 1002, and is synchronously driven by the second telescopic oil cylinder 1005 and the third telescopic oil cylinder 1006. The vertical slider 1002 slides up and down in the sliding column 1001, thereby driving the telescopic suction cup unit 8 to move up and down; the reducer motor 802 and the reducer 803 are arranged on the telescopic suction cup unit frame 801. In this embodiment, there are 4 reducers 803, which are symmetrically arranged. In actual application, there can also be 2 or 6 reducers, etc., which can be symmetrically arranged without affecting the realization of the technical effect of the present invention. The reducer motor 802 drives the reducer 803 through the reducer shaft 804. The 4 reducers 803 are rigidly connected to the reducer shaft 804 to ensure consistent and synchronous movements under the drive of the reducer motor 802; The reducer rocker arm 805 is installed on the output shaft end of the reducer 803, and the other end is hinged to the transverse slider 806. The number of reducer rocker arms 805 is consistent with the number of reducers 803, and the number of transverse sliders 806 is consistent with the number of reducer rocker arms 805; the transverse slider 806 is installed on the transverse slider guide rail 807, and the transverse slider guide rail 807 is installed on the suction cup frame 809; the suction cup frame connecting rod group 808 is a scissor-type structure, one end of which is connected to the telescopic suction cup unit frame 801, and the other end is connected to the suction cup frame 809; the suction cup group 811 includes a plurality of suction cups, and the suction cups are installed on the suction cup panel 810. The lower part of the suction cup panel 810 is connected to the suction cup frame 809 through a hinge support 812, and the upper part is connected to the suction cup frame 809 through a sliding support 813.

[0063] The vertical displacement unit 10 includes a vertical displacement driving device arranged on a frame chassis 103 and 8 sliding columns 1001, 8 vertical sliders 1002, and 8 chains 1003. The vertical displacement driving device includes a first telescopic cylinder 1004, a second telescopic cylinder 1005, a third telescopic cylinder 1006, and a fourth telescopic cylinder 1007. Each sliding column 1001 is respectively arranged in the corresponding fixed column 101, and its top is connected to the piston rod of the telescopic cylinder. The piston rod of one telescopic cylinder connects two sliding columns 1001. The specific connection method and use method are prior art and do not affect the understanding of the present invention by those skilled in the art; a fixed pulley 1008 is provided on the top of each sliding column 1001, and each vertical slider 1002 is respectively arranged in the corresponding sliding column 1001. The chain 1003 bypasses the fixed pulley 1008, one end of which is connected to the vertical slider 1002, and the other end is connected to the cylinder body of the telescopic cylinder; the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007 are symmetrically arranged, and the movements of the two are consistent and synchronous. The first telescopic cylinder 1004 and The piston rod of the fourth telescopic cylinder 1007 drives the sliding column 1001 connected thereto to slide up and down in the fixed column 101, thereby driving the vertical slider 1002 to slide up and down in the sliding column 1001 through the chain 1003, thereby driving the vertical up and down movement of the main roller platform 7; the second telescopic cylinder 1005 and the third telescopic cylinder 1006 are symmetrically arranged, and the movements of the two are consistent and synchronous. The piston rods of the second telescopic cylinder 1005 and the third telescopic cylinder 1006 drive the sliding column 1001 connected thereto to slide up and down in the fixed column 101, thereby driving the vertical slider 1002 to slide up and down in the sliding column 1001 through the chain 1003, thereby driving the vertical up and down movement of the telescopic suction cup unit 8.

[0064] As common sense, the present invention also includes non-contact laser radar sensors, pressure sensors, and photoelectric sensors. The non-contact laser radar sensor is used to measure the lifting height of the main roller platform 7, the auxiliary roller platform 9, and the telescopic suction cup unit 8, and feeds back to the controller, which controls the hydraulic station 11 to control the lifting and lowering of the main roller platform 7, the auxiliary roller platform 9, and the telescopic suction cup unit 8, and then the non-contact laser radar sensor feeds back the height information of the main roller platform 7, the auxiliary roller platform 9, and the telescopic suction cup unit 8 to achieve closed-loop control of height control; the pressure sensor is used to measure the hydraulic oil pressure and feed it back to the controller to ensure the normal operation of the hydraulic station 11 system; the photoelectric sensor is used to measure the position of the cargo and feed it back to the controller, which controls the start and stop of the controllable limiter.

[0065] As common sense, the present invention also includes conventional components such as an electrical control box 4 , an operation control box 5 , a pneumatic control box 6 and a hydraulic station 11 .

[0066] The electrical control box 4 includes an electrical control box body 401, a first emergency stop switch 402, an external power socket 403, a working status indicator light 404, and conventional electrical components installed in the electrical control box body 401, such as PLC, motor controller, roller controller, circuit breaker, relay, wire, etc., which are used to control the operation of each unit. The specific connection method and use method are conventional technologies. The electrical control box body 401 is installed on the frame chassis 103 for the installation and protection of electrical components; the first emergency stop switch 402 and the external power socket 403 are installed on the electrical control box body 401, close to the side of the traction drive unit 3. The first emergency stop switch 402 is convenient for the operator to perform emergency power-off operation when the present invention works abnormally, and the external power socket 403 is convenient for aligning the external power cable; the working status indicator light 404 is installed on the top of the electrical control box body 401 to indicate the working status of the present invention.

[0067] The operation control box 5 includes an operation control box body 501, a touch screen 502, a second emergency stop switch 503, and a power status indicator light 504. The operation control box body 501 is installed on a connecting rod connecting the top of the electrical control box body 401 and the pneumatic control box body 601, and is used for the installation and protection of the touch screen 502, the second emergency stop switch 503, and the power status indicator light 504; the touch screen 502 is installed on the operation control box body 501, close to the side of the traction drive unit 3, and is used for the operation setting and control of the present invention; the second emergency stop switch 503 and the power status indicator light 504 are respectively installed on both sides of the touch screen 502, and the second emergency stop switch 503 is convenient for the operator to perform emergency power-off operation when the present invention works abnormally, and the power status indicator light 504 is used to indicate the status of the external power supply.

[0068] The pneumatic control box 6 includes a pneumatic control box body 601 and conventional pneumatic components installed in the pneumatic control box body 601, such as a vacuum pump, a vacuum control solenoid valve, a vacuum switch, a flow sensor, a vacuum filter, a vacuum tube, etc., which are used to generate a vacuum so that the suction cup can absorb the goods. The specific connection method and use method are conventional technologies. The pneumatic control box body 601 is installed on the frame chassis 103 and is used for the installation and protection of pneumatic components; the pneumatic control box 6 is connected to the suction cup group 811 through a vacuum tube to generate a vacuum to absorb the goods.

[0069] The hydraulic station 11 is arranged on the frame chassis 103, and includes conventional hydraulic components, such as a hydraulic motor, a hydraulic pump, a hydraulic valve island, a hydraulic oil tank, and a hydraulic pipe joint, which can be selected according to needs in actual application; the first walking chassis cylinder 204, the second walking chassis cylinder 205, the walking chassis drive motor 206, the auxiliary roller platform cylinder 907, the first telescopic cylinder 1004, the second telescopic cylinder 1005, the third telescopic cylinder 1006, and the fourth telescopic cylinder 1007 are all controlled by the hydraulic station 11. Embodiment 2

[0070] Based on the first embodiment, the difference of this embodiment is that when unloading, the driving rollers on all the transverse main roller groups 702 rotate in the same direction, the driving rollers on all the transverse auxiliary roller groups 903 rotate in the same direction, and the rest are the same. The cargo transportation efficiency is not as good as that of the first embodiment. Embodiment 3

[0071] Based on the first embodiment, the difference of this embodiment is that the lifting mechanism is omitted, the auxiliary roller platform 9 and the cargo inlet and outlet platform 12 are located in the same plane to form a conveying line, and the rest is the same. The cargo conveying efficiency is not as good as the first embodiment. Embodiment 4

[0072] Based on the first embodiment, the difference of this embodiment is that the sliding support 813 connecting the upper part of the suction cup panel 810 and the suction cup frame 809 is replaced by a hinge support 812, and the rest is the same. Embodiment 5

[0073] Based on the first embodiment, the difference of this embodiment is that the cargo in-and-out roller platform frame 1201 and the longitudinal cargo in-and-out roller group 1202 are replaced with a conveyor belt, and the rest is the same. Embodiment 6

[0074] The method for unloading cargo using the device of the first embodiment comprises the following steps:

[0075] (I) Traction walking stage:

[0076] (1) The first driving wheel 207, the second driving wheel 208, the first driven wheel 209, and the second driven wheel 210 are in contact with the ground, the frame chassis 103, the traction wheel 302, the first auxiliary wheel 310, and the second auxiliary wheel 311 are off the ground, and the device is in a horizontal state;

[0077] (2) The operator manually presses the handle 303 up and down, and the piston rods of the first lifting cylinder 306 and the second lifting cylinder 307 extend to support the lifting cylinder support ear 107, and overcome the pulling force of the first spring 304 and the second spring 305, so that the traction drive unit 3 moves vertically downward under the restriction of the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 contact the ground, and the device is in a tilted state, so that the first driving walking wheel 207 and the second driving walking wheel 208 are off the ground. Fig. 9 As shown;

[0078] (3) The operator operates the traction drive controller 312 to make the present invention move forward, backward or brake;

[0079] (4) When steering is required, the operator turns the handle 303, and the traction wheel 302 maintains the same steering angle as the handle 303 under the action of the steering rod 309, thereby achieving steering;

[0080] (5) The operator tows the device to the loading point and faces the unloading platform directly, removes the oil pressure of the first lifting cylinder 306 and the second lifting cylinder 307, and the traction drive unit 3 moves vertically upward under the action of the first spring 304, the second spring 305 and the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 are off the ground, and the first driving walking wheel 207 and the second driving walking wheel 208 are in contact with the ground, and the device is in a horizontal state;

[0081] (6) The operator connects the external power plug to the external power socket 403 and operates the touch screen 502 to reset the main roller platform 7, the telescopic suction cup unit 8, the auxiliary roller platform 9 and the vertical displacement unit 10 to the lowest working position. After confirmation, the device enters the autonomous working stage.

[0082] After unloading is completed, repeat steps (2) to (4) to tow the device to another place or other unloading point.

[0083] (II) Autonomous working stage:

[0084] (1) The chassis driving motor 206 drives the first driving wheel 207 and the second driving wheel 208, thereby driving the device to move forward in a straight line until the collision sensor 705 contacts the nearest cargo surface, and the hydraulic station 11 controls the chassis driving motor 206 to stop working;

[0085] (2) The hydraulic station 11 controls the first traveling chassis oil cylinder 204 and the second traveling chassis oil cylinder 205, and the first connecting rod structure 202 and the second connecting rod structure 203 drive the traveling chassis frame 201 to move vertically upward under the restriction of the traveling chassis frame stopper 104 until the frame chassis 103 contacts the ground;

[0086] (3) The hydraulic station 11 controls the second telescopic cylinder 1005, the third telescopic cylinder 1006, the first telescopic cylinder 1004, and the fourth telescopic cylinder 1007, and the corresponding vertical slide blocks 1002 respectively drive the telescopic suction cup unit 8 and the main roller platform 7 to move upward to the highest row of goods to be unloaded on the nearest cargo facade;

[0087] (4) The reducer motor 802 drives the reducer 803 through the reducer shaft 804, and the reducer rocker arm 805 pushes the suction cup assembly forward until the suction cup contacts the cargo;

[0088] (5) The pneumatic control box 6 controls the suction cup to generate a vacuum, and the suction cup absorbs a row of goods;

[0089] (6) The reducer motor 802 rotates in the opposite direction, and the reducer rocker arm 805 drives the suction cup assembly to retract backward, and the adsorbed goods are completely pulled onto the main roller platform 7;

[0090] (7) The pneumatic control box 6 controls the vacuum at the suction cup to remove the suction cup from the cargo;

[0091] (8) The reducer motor 802 continues to rotate in the reverse direction, and the reducer rocker arm 805 drives the suction cup assembly to retract backward to the minimum position;

[0092] (9) The hydraulic station 11 controls the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007, and the corresponding vertical slide block 1002 drives the fully loaded main roller platform 7 to move downward. At the same time, the hydraulic station 11 controls the auxiliary roller platform cylinder 907, and the auxiliary roller platform lifting link group 908 drives the unloaded auxiliary roller platform 9 to move upward until the two are in the same plane to form a conveyor line;

[0093] (10) The transverse main roller group 702, the longitudinal main roller group 703, the transverse auxiliary roller group 902, the longitudinal auxiliary roller group 903, and the third motor 906 are started simultaneously, and all the goods are transported from both ends of the main roller platform 7 to the auxiliary roller platform 9;

[0094] (11) The hydraulic station 11 controls the first telescopic cylinder 1004, the fourth telescopic cylinder 1007, the second telescopic cylinder 1005, and the third telescopic cylinder 1006. The corresponding vertical slider 1002 drives the main roller platform 7 to move upward to the highest row of goods to be unloaded on the nearest cargo facade. The corresponding vertical slider 1002 drives the telescopic suction cup unit 8 to move downward to the highest row of goods to be unloaded on the nearest cargo facade. At the same time, the hydraulic station 11 controls the auxiliary roller platform cylinder 907. The auxiliary roller platform lifting connecting rod group 908 drives the fully loaded auxiliary roller platform 9 to move downward until it is in the same plane as the cargo entry and exit platform 12 to form a conveyor line;

[0095] (12) The third motor 906 is turned off, and the transverse auxiliary roller group 902, the longitudinal auxiliary roller group 903, and the longitudinal cargo in-and-out roller group 1202 are started simultaneously. The first motor 904 and the second motor 905 are started in sequence, and all the cargo on the auxiliary roller platform 9 is transported to the external device through the cargo in-and-out roller platform 12;

[0096] (13) Repeat steps (4) to (12) until all cargo on the nearest cargo facade has been unloaded and transported to the external device;

[0097] (14) The hydraulic station 11 controls the first traveling chassis oil cylinder 204 and the second traveling chassis oil cylinder 205. The first connecting rod structure 202 and the second connecting rod structure 203 drive the traveling chassis frame 201 to move vertically downward under the restriction of the traveling chassis frame limiter 104 until the first driving traveling wheel 207, the second driving traveling wheel 208, the first driven traveling wheel 209 and the second driven traveling wheel 210 touch the ground. The traveling chassis driving motor 206 drives the first driving traveling wheel 207 and the second driving traveling wheel 208, thereby driving the device to continue to move forward in a straight line until the collision sensor 705 touches the nearest cargo facade. The hydraulic station 11 controls the traveling chassis driving motor 206 to stop working, and repeats steps (2) to (13) until the next nearest cargo facade is unloaded and transported to an external device.

[0098] (15) Repeat step (14) until all cargo is unloaded and transported to an external device.

[0099] When the suction cup absorbs the goods and moves backward, the hydraulic station 11 controls the second telescopic cylinder 1005 and the third telescopic cylinder 1006, and the corresponding vertical slider 1002 drives the telescopic suction cup unit 8 to lift up. The suction cup panel 810 is tilted at a certain angle under the action of the hinge support 812 and the sliding support 813. The contact area between the goods and the lower layer of goods and the main roller platform 7 is reduced during the suction and movement process of the suction cup.

[0100] When the operating position of the main roller platform 7 is lower than the minimum position of the auxiliary roller platform 9, the hydraulic station 11 controls the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007, and the corresponding vertical slider 1002 drives the main roller platform 7 to move upward to the same plane as the auxiliary roller platform 9 to form a conveyor line.

[0101] When the auxiliary roller platform 9 and the cargo in-and-out platform 12 are conveying cargo to the external device, the main roller platform 7 and the telescopic suction cup unit 8 are also unloading cargo at the same time. Embodiment 7

[0102] The method for loading cargo using the device of the first embodiment comprises the following steps:

[0103] (I) Traction walking stage:

[0104] (1) The first driving wheel 207, the second driving wheel 208, the first driven wheel 209, and the second driven wheel 210 are in contact with the ground, the frame chassis 103, the traction wheel 302, the first auxiliary wheel 310, and the second auxiliary wheel 311 are off the ground, and the device is in a horizontal state;

[0105] (2) The operator manually presses the handle 303 up and down, and the piston rods of the first lifting cylinder 306 and the second lifting cylinder 307 extend to support the lifting cylinder support ear 107, and overcome the tension of the first spring 304 and the second spring 305, so that the traction drive unit 3 moves vertically downward under the restriction of the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 touch the ground, and the device is in a tilted state, so that the first driving walking wheel 207 and the second driving walking wheel 208 are off the ground;

[0106] (3) The operator operates the traction drive controller 312 to make the present invention move forward, backward or brake;

[0107] (4) When steering is required, the operator turns the handle 303, and the traction wheel 302 maintains the same steering angle as the handle 303 under the action of the steering rod 309, thereby achieving steering;

[0108] (5) The operator tows the device to the loading point and faces the loading platform directly, removes the oil pressure of the first lifting cylinder 306 and the second lifting cylinder 307, and the traction drive unit 3 moves vertically upward under the action of the first spring 304, the second spring 305 and the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 are off the ground, and the first driving walking wheel 207 and the second driving walking wheel 208 are in contact with the ground, and the device is in a horizontal state;

[0109] (6) The operator connects the external power plug to the external power socket 403 and operates the touch screen 502 to reset the main roller platform 7, the telescopic suction cup unit 8, the auxiliary roller platform 9 and the vertical displacement unit 10 to the lowest working position. After confirmation, the device enters the autonomous working stage.

[0110] After loading is completed, repeat steps (2) to (4) to tow the device to another location or other loading point.

[0111] (II) Autonomous working stage:

[0112] (1) The chassis driving motor 206 drives the first driving wheel 207 and the second driving wheel 208, thereby driving the device to move forward in a straight line until the collision sensor 705 contacts the nearest limiting surface of the loading platform, and the hydraulic station 11 controls the chassis driving motor 206 to stop working;

[0113] (2) The hydraulic station 11 controls the traveling chassis driving motor 206 to rotate in the opposite direction, thereby driving the device to move backward in a straight line for a certain distance. The hydraulic station 11 controls the traveling chassis driving motor 206 to stop working. The hydraulic station 11 controls the first traveling chassis oil cylinder 204 and the second traveling chassis oil cylinder 205. The first connecting rod structure 202 and the second connecting rod structure 203 drive the traveling chassis frame 201 to move upward until the frame chassis 103 contacts the ground.

[0114] (3) The hydraulic station 11 controls the auxiliary roller platform cylinder 907, and the auxiliary roller platform lifting link group 908 drives the auxiliary roller platform 9 to be in the same plane with the cargo entry and exit platform 12 to form a conveyor line. The hydraulic station 11 controls the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007, and the corresponding vertical slider 1002 drives the main roller platform 7 and the auxiliary roller platform 9 to be in the same plane to form a conveyor line. The hydraulic station 11 controls the second telescopic cylinder 1005 and the third telescopic cylinder 1006, and the corresponding vertical slider 1002 drives the telescopic suction cup unit 8 to move to a position slightly greater than the cargo height from the main roller platform 7;

[0115] (4) The longitudinal goods in-and-out roller group 1202, the transverse auxiliary roller group 902, the longitudinal auxiliary roller group 903, the transverse main roller group 702, the longitudinal main roller group 703, the front roller group 704, and the first motor 904 are started simultaneously;

[0116] (5) The goods are transported from the external device to the goods entry and exit platform, and then transported to the main roller platform 7 through the right end of the auxiliary roller platform 9. When the main roller platform 7 is full of goods, the transverse auxiliary roller group 902 and the longitudinal auxiliary roller group 903 are closed, and the hydraulic station 11 controls the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007, and the corresponding vertical slider 1002 drives the main roller platform 7 to move downward to the lowest working position;

[0117] (6) The hydraulic station 11 controls the second telescopic oil cylinder 1005 and the third telescopic oil cylinder 1006. The corresponding vertical slider 1002 drives the telescopic suction cup unit 8 to move downward to the minimum position from the main roller platform 7. The reducer motor 802 drives the reducer 803 through the reducer shaft 804. The reducer rocker arm 805 pushes the suction cup assembly to move forward and contact with the goods, and continues to push the goods until the entire row of goods falls onto the loading platform against the nearest limiting vertical surface of the loading platform;

[0118] (7) The hydraulic station 11 controls the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007, and the corresponding vertical slider 1002 drives the main roller platform 7 and the auxiliary roller platform 9 to be in the same plane to form a conveyor line. At the same time, the hydraulic station 11 controls the second telescopic cylinder 1005 and the third telescopic cylinder 1006, and the corresponding vertical slider 1002 drives the telescopic suction cup unit 8 to move to a position slightly greater than the height of the goods from the main roller platform 7. The reducer motor 802 drives the reducer 803 through the reducer shaft 804, and the reducer rocker arm 805 drives the suction cup assembly to retract backward to the minimum position, and the transverse auxiliary roller group 902 and the longitudinal auxiliary roller group 903 are started;

[0119] (8) The goods are transported from the external device to the goods in-and-out platform 12, and then transported to the main roller platform 7 through the auxiliary roller platform 9. When the main roller platform 7 is full of goods, the transverse auxiliary roller group 902 and the longitudinal auxiliary roller group 903 are closed, and the hydraulic station 11 controls the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007. The corresponding vertical slider 1002 drives the main roller platform 7 to move to a position slightly higher than the top surface of the previous row of goods. The goods are pushed onto the previous row of goods under the joint action of the telescopic suction cup unit 8 and the longitudinal main roller group 703 and the front roller group 704;

[0120] (9) Repeat steps (7) and (8) until the entire surface of the goods is loaded. When the operating position of the main roller platform 7 is higher than the position of the goods inlet and outlet platform 12, the goods are placed on the auxiliary roller platform 9. The hydraulic station 11 controls the auxiliary roller platform cylinder 907, and the auxiliary roller platform lifting link group 908 drives the auxiliary roller platform 9 to move upward to the same plane as the main roller platform 7 to form a conveyor line.

[0121] (10) The hydraulic station 11 controls the first traveling chassis oil cylinder 204 and the second traveling chassis oil cylinder 205, and the first connecting rod structure 202 and the second connecting rod structure 203 drive the traveling chassis frame 201 to move vertically downward under the restriction of the traveling chassis frame stopper 104 until the first driving traveling wheel 207, the second driving traveling wheel 208, the first driven traveling wheel 209, and the second driven traveling wheel 210 touch the ground, and repeats steps (2) to (9) until the loading of the next whole side of the cargo is completed;

[0122] (11) Repeat step (10) until all cargo has been loaded.

[0123] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A height-adjustable self-propelled loading and unloading device, characterized in that: It includes a frame, a main roller platform, a telescopic suction cup unit, an auxiliary roller platform, and a vertical displacement unit; the telescopic suction cup unit includes a telescopic component and a suction cup component located on the telescopic component; the vertical displacement unit is located on the frame; the main roller platform and the telescopic component are respectively located on the vertical displacement unit; the main roller platform is located below the telescopic suction cup unit; the main roller platform and the telescopic suction cup unit are located on the same side of the vertical displacement unit; the auxiliary roller platform is installed on the frame through a lifting mechanism; the main roller platform and the auxiliary roller platform can form a conveyor line; the main roller platform and the auxiliary roller platform are located on both sides of the vertical displacement unit; the main roller platform includes a horizontal The auxiliary roller platform includes a transverse auxiliary roller group and a longitudinal auxiliary roller group; the longitudinal main roller group and the longitudinal auxiliary roller group can form a conveyor line; the transverse main roller group includes two or more transverse main drive rollers; the transverse auxiliary roller group includes two or more transverse auxiliary drive rollers; the telescopic assembly includes a telescopic suction cup unit frame, a reducer motor, a reducer, a reducer shaft, a reducer rocker arm, a transverse slider, a transverse slider guide, a suction cup frame connecting rod group, and a suction cup frame; the suction cup assembly includes a suction cup panel and a suction cup group; the reducer motor and the reducer are arranged on the telescopic suction cup unit frame.

2. The height-adjustable self-propelled loading and unloading device according to claim 1, characterized in that: The vertical displacement unit comprises a vertical displacement driving device; the main roller platform and the telescopic assembly are arranged on different vertical displacement driving devices; the upper part of the suction cup assembly is slidably connected to the telescopic assembly, and the lower part is fixedly connected to the telescopic assembly.

3. The height-adjustable self-propelled loading and unloading device according to claim 1, characterized in that: A cargo entry and exit platform is provided on the frame; the cargo entry and exit platform and the auxiliary roller platform can form a conveyor line.

4. The height-adjustable self-propelled loading and unloading device according to claim 1, characterized in that: The main roller platform also includes a front roller group; the conveying direction of the front roller group is consistent with the telescopic direction of the telescopic assembly; and a controllable limiter is provided on the auxiliary roller platform.

5. The height-adjustable self-propelled loading and unloading device according to claim 1, characterized in that: The height-adjustable self-propelled loading and unloading device also includes one or both of a walking chassis unit and a traction drive unit; the walking chassis unit is arranged on a frame, and the walking chassis unit includes walking wheels, and the walking wheels are liftably arranged on the frame, and at least one of the walking wheels is a driving walking wheel; the traction drive unit includes a traction wheel and a lifting assembly, one end of the jacking assembly is connected to the frame, and the other end is provided with a bracket; the traction wheel is arranged on the bracket.

6. The height-adjustable self-propelled loading and unloading device according to claim 5, characterized in that: The walking chassis unit also includes a walking chassis frame and a connecting rod driving device. The walking chassis frame is arranged on the frame through a connecting rod structure. The connecting rod driving device is connected to the connecting rod structure. The walking wheels are arranged on the walking chassis frame. The jacking assembly includes a handle and a jacking device controlled by the handle. One end of the jacking device is connected to the frame, and the other end is provided with a bracket.

7. A method for loading and unloading using the height-adjustable self-propelled loading and unloading device according to claim 1, characterized in that: The loading and unloading method includes one or both of a loading method and an unloading method; the unloading method includes the following steps: controlling the vertical displacement unit to drive the main roller platform and the telescopic suction cup unit thereon to move to the highest row of the cargo facade, controlling the telescopic assembly to push the suction cup assembly to move forward and adsorb the cargo, and then moving backward to the main roller platform; the cargo to be adsorbed is partially or completely on the main roller platform, and the suction cup assembly is controlled to separate from the cargo; controlling the displacement of the main roller platform and the auxiliary roller platform, the two are in the same plane to form a conveying line, the cargo is conveyed from the main roller platform to the auxiliary roller platform, repeating the above steps, and completing the unloading; the loading method includes the following steps: controlling the main roller platform and the auxiliary roller platform to be in the same plane to form a conveying line, the cargo is located on the auxiliary roller platform, and is conveyed from the auxiliary roller platform to the main roller platform; controlling the vertical displacement unit to drive the main roller platform and the telescopic suction cup unit thereon to move to the lowest working position, controlling the telescopic assembly to push the suction cup assembly to move forward and contact the cargo, and pushing the cargo to fall to the loading platform, repeating the above steps, and completing the loading.

8. The method for loading and unloading according to the height-adjustable self-propelled loading and unloading device of claim 7, characterized in that: A cargo entry and exit platform is provided on the frame, and the cargo entry and exit platform and the auxiliary roller platform can form a conveyor line; when loading or unloading, the cargo entry and exit platform and the auxiliary roller platform are in the same plane, and the cargo is conveyed from the cargo entry and exit platform to the auxiliary roller platform, or the cargo is conveyed from the auxiliary roller platform to the cargo entry and exit platform.

9. The method for loading and unloading according to the height-adjustable self-propelled loading and unloading device of claim 7, characterized in that: A traveling chassis unit is provided on the frame, the traveling chassis unit includes traveling wheels, and the frame and the traveling chassis unit are connected by a connecting rod structure; when loading or unloading, the connecting rod structure drives the traveling chassis unit to move upward, the traveling wheels leave the ground, and the frame contacts the ground.

10. Application of the height-adjustable self-propelled loading and unloading device according to any one of claims 1 to 6 in loading and unloading; the loading and unloading includes one or both of loading and unloading.

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