A cargo compartment loading and unloading system

Abstract

The present invention discloses a cargo compartment loading and unloading system, comprising: a main frame for positioning with the cargo compartment and lifting while carrying a grasping module; a grasping module movably installed on the main frame for grasping goods and conveying the goods to a designated position to achieve loading and unloading; a conveying device for conveying goods and positioning and placing the goods by means of a conveying positioning module; the main frame is installed inside the cargo compartment, and different side components are installed on both sides of the main frame. The side component includes a first side plate and a second side plate. The first side plate is installed on the corresponding lifting top seat, and the first side plate is axially slidably assembled with a side sliding shaft. The side sliding shaft is fixedly assembled with the second side plate, and a side spring is sleeved on the part of the side sliding shaft located between the first side plate and the second side plate. The side spring applies a thrust to the second side plate to move it away from the first side plate; a pressure sensor is installed on the first side plate, and the pressing end of the pressure sensor faces the first side plate.

Description

Technical Field

[0001] The present invention relates to logistics technology and loading and unloading technology, and particularly to a cargo compartment loading and unloading system. Background Art

[0002] In the logistics industry, the loading and unloading of goods has always been a difficult problem. Currently, for small items and irregular items, manual loading or crane-assisted manual loading is mostly adopted; for large items and regular items, they are mostly packed on transfer racks and then loaded and unloaded by forklifts. Although the manual loading method has high space utilization and reasonable planning, it has low efficiency and high labor costs, which increases the transportation cost. On the one hand, the method of packing on transfer racks requires a large number of transfer racks, thus increasing the procurement cost; on the other hand, the items need to be packed on the transfer racks and unpacked after reaching the destination, all of which require manual operations, so the labor cost is still very high and the efficiency is still low.

[0003] Especially with the increasing development of the current logistics industry, the daily loading and unloading volume is astronomical. Therefore, as long as the loading and unloading problem is solved, the labor cost can be greatly reduced, thereby reducing the overall logistics cost. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a cargo compartment loading and unloading system that can automatically load and unload goods in a cargo compartment or container.

[0005] To achieve the above object, the present invention provides a cargo compartment loading and unloading system, including:

[0006] A main frame for positioning with the cargo compartment and carrying the grasping module to lift;

[0007] A grasping module movably installed on the main frame for grasping goods and transporting the goods to a designated position to achieve loading and unloading;

[0008] A conveying device for conveying goods and positioning and placing the goods by using a conveying positioning module to facilitate the grasping module to load or unload the goods;

[0009] The main frame is loaded into the cargo compartment, and different side components are installed on both sides of the main frame. The side components include a first side plate and a second side plate. The first side plate is installed on the corresponding lifting top seat, and the first side plate is axially slidably assembled with the side sliding shaft. The side sliding shaft is fixedly assembled with the second side plate, and a side spring is sleeved on the part of the side sliding shaft between the first side plate and the second side plate. The side spring applies a thrust to the second side plate to move it away from the first side plate. A pressure sensor is installed on the first side plate, and the pressing end of the pressure sensor faces the first side plate. In the initial state, the second side plate does not press against the pressure sensor. When the pressure values output by the pressure sensors of the side components on both sides of the main frame are within the preset threshold range, it is determined that the main frame and the cargo compartment are positioned and pressed tightly.

[0010] The beneficial effects of the present invention are as follows:

[0011] The present invention can utilize the existing machine vision technology to evaluate the space and the stacking state of goods, and then calculate the optimal stacking method of the goods, thereby improving the space utilization rate. In addition, by transmitting the goods stacking data to the unloading end, it is greatly convenient for the unloading end to plan the unloading.

[0012] The present invention also grabs the goods through the grabbing mechanism, places the grabbed goods on the conveying device for output, or grabs the goods input on the conveying device and then stacks them, thereby realizing the automatic loading and unloading of the goods. In addition, the main frame can be flexibly adjusted according to the width of the carriage or container, so as to adapt to different sizes of carriages (stacking spaces), greatly improving the applicable range of the present invention. Description of the Drawings

[0013] Figure 1 is a schematic diagram of the usage state of Embodiment 1;

[0014] Figures 2 - 6 is a schematic structural diagram of Embodiment 1;

[0015] Figure 7 is a partial structural diagram of the main frame A;

[0016] Figure 8 is a schematic structural diagram of the side component A130;

[0017] Figure 9 is a schematic structural diagram at the grabbing module C, the first cross beam A160, and the second cross beam A170;

[0018] Figures 10 - 16 is a schematic structural diagram at the first cross beam A160 and the second cross beam A170, where Figure 13 is a sectional view at the central plane where the axis of the first conductive column C622 is located, Figure 16 is a sectional view at the central plane where the axis of the insulating sleeve A530 is located;

[0019] Figure 17 It is a schematic structural diagram of the transverse movement component C100;

[0020] Figures 18 - 19 It is a schematic structural diagram at the first transverse movement gear C710 and the second transverse movement gear C720;

[0021] Figure 20 It is a schematic structural diagram of the grasping module C;

[0022] Figures 21 - 22 It is a partial schematic structural diagram at the jaw holder C300;

[0023] Figure 23 It is a partial schematic structural diagram at the locking block C360;

[0024] Figure 24 It is a schematic structural diagram at the suction cup assembly C400;

[0025] Figures 25 - 26 It is a schematic structural diagram of the conveying device B;

[0026] Figure 27 It is a schematic structural diagram of the extended conveying mechanism B200;

[0027] Figures 28 - 30 It is a schematic structural diagram of the second embodiment;

[0028] Figures 31 - 34 It is a schematic structural diagram of the grasping module C;

[0029] Figure 35 It is a schematic structural diagram at the second turntable bearing C922, the first travel switch C671, and the second travel switch C672;

[0030] Figure 36 It is a schematic structural diagram of the conveying device B;

[0031] Figures 37 - 40 It is an improved schematic structural diagram at the conveying and positioning module B100. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] Embodiment 1

[0034] See Figures 1 - 6, A cargo compartment loading and unloading device, including a main frame A and a grasping module C. The grasping module C is movably installed on the main frame A, and the main frame A carries the grasping module C to move to convey or grasp goods at different positions 03. When in use, the main frame A is loaded into the cargo compartment 01, so that the grasping module C can take out the goods in the cargo compartment 01 or load the input goods into the cargo compartment 01.

[0035] See Figures 1 - 7 , The main frame A includes two lifting mechanisms. Each lifting mechanism respectively includes a lifting base A110, a scissor lifting mechanism A220, and a lifting top seat A120. The lifting base A110 and the lifting top seat A120 are respectively installed at the upper and lower ends of the scissor lifting mechanism A220. The scissor lifting mechanism A220 is driven to lift or lower by a lifting electric cylinder or a lifting motor (not shown, common knowledge), so as to drive the lifting top seat A120 to lift or lower synchronously; At least two main frame wheels A210 are also installed on the lifting base A110. The main frame wheels A210 integrate hub motors, so as to drive the main frame wheels A210 to rotate through the hub motors A210 to make the main frame wheels A210 carry the main frame A to move. In this embodiment, the main frame wheels A210 adopt Mecanum wheels. There are at least four Mecanum wheels for the two lifting mechanisms. Through the cooperation of at least four Mecanum wheels, the main frame A can move forward, backward, turn, side shift, etc. Preferably, each lifting mechanism corresponds to four Mecanum wheels respectively, which enables each lifting mechanism to walk independently and has a good supporting effect.

[0036] The lifting top seat A120 of one of the lifting mechanisms is assembled with one end of the first cross beam A160, and the lifting top seat A120 of the other lifting mechanism is assembled with one end of the second cross beam A170. The first cross beam A160 and the second cross beam A170 are assembled in a staggered, engaged and sliding manner; Different side components A130 are also installed on the two lifting top seats A120. See Figure 8, the side component A130 includes a first side plate A131 and a second side plate A132. The first side plate A131 is installed on the corresponding lifting top seat A120, and the first side plate A131 is axially slidably assembled with the side sliding shaft A134. The side sliding shaft A134 is fixedly assembled with the second side plate A132, and a side spring A135 is sleeved on the part of the side sliding shaft A134 located between the first side plate A131 and the second side plate A132. The side spring A135 applies a thrust to the second side plate A132 to move it away from the first side plate A131; a side roller A133 is rotatably installed on the second side plate A132, and a pressure sensor A430 is installed on the first side plate A131. The pressing end of the pressure sensor A430 faces the first side plate A131. In the initial state, due to the action of the side spring A135, the second side plate A132 is not pressed against the pressure sensor A430. During use, the main frame drives into the cargo compartment 01, and then the lifting mechanisms on both sides move towards the cargo compartment side wall 02 of the cargo compartment 01 respectively until the side roller A133 is pressed against the cargo compartment side wall 02, and then the second side plate A132 is squeezed and pressed against the pressure sensor A430 until the pressure received by the pressure sensor A430 reaches the preset threshold, it can be determined that the side roller A133 is pressed against the cargo compartment side wall 02. In this embodiment, there are two side components A130 on each side. If the pressure values output by the pressure sensors of the four side components are all within the preset threshold range, it is determined that the main frame and the cargo compartment are positioned and pressed. If the pressure value output by at least one pressure sensor is not within the preset threshold range, it is determined that there is an inclination between the main frame and the cargo compartment. At this time, adjust the position of the main frame until the pressure values output by the four pressure sensors are all within the preset threshold range. The specific adjustment method is common knowledge and will not be elaborated in this case. In this embodiment, mainly the error range of the output value of the pressure sensor is used as the threshold. The output values of different pressure sensors on the same side can float within 3%, and the error of the output values of the corresponding pressure sensors on different sides can float within 5% to be considered within the preset threshold range. When comparing the two sides, the corresponding pressure sensors need to be compared in the width direction. For example, if the pressure value detected on one side is 50N, the detected value of the corresponding pressure sensor on the other side within the range of 50 - 2.5N to 50 + 2.5N can be regarded as within the preset threshold range. In this embodiment, the side roller A133 can be a ball, and it is rotatably installed on the second side plate A132. This design is mainly to adapt to the forward, backward, lifting and lowering of the main frame.

[0037] Preferably, a first electrical box A421 is installed on one of the lifting top seats A120, and a second electrical box A422 is installed on the other lifting top seat A120. The first electrical box A421 and the second electrical box A422 are connected by a connecting cable A423 to achieve power supply and communication. In this embodiment, the connecting cable A423 is wound and unwound through a first cable reel, so as to flexibly adapt to the width adjustment between the first electrical box A421 and the second electrical box A422. More preferably, a second cable reel is also installed in the second electrical box A422. The second cable reel is used to wind and unwind the power supply cable A401, and the power supply cable A401 is also fixedly assembled with the lifting base A110, so that the power supply cable A401 can flexibly adapt to the different distances between the lifting top seat A120 and the lifting base A110.

[0038] See Figures 1 - 16 , there are two first crossbeams A160 and two second crossbeams A170 respectively. The two first crossbeams A160 are respectively installed on the outer sides of the two second crossbeams A170. A crossbeam groove A174 is formed between the two second crossbeams A170. The second crossbeams A170 and the first crossbeams A160 on both sides of the crossbeam groove A174 are respectively a pair of crossbeam groups, that is, there are a pair of crossbeam groups on both sides of the crossbeam groove A174;

[0039] The first crossbeam A160 is respectively provided with a first crossbeam platform A161 and a first rack A162, and the second crossbeam A170 is respectively provided with a second crossbeam platform A171 and a second rack A172; the first crossbeam platform A161 and the second crossbeam platform A171 are respectively installed with a first conductive bar A441 and a second conductive bar A442; the first conductive bar A441 and the second conductive bar A442 are made of high-conductive materials, preferably copper, carbon skateboard, etc.

[0040] The first conductive bars A441 or the second conductive bars A442 of the two pairs of crossbeam groups are respectively electrically connected to the two electrodes of the DC power supply, so that the two pairs of crossbeam groups are respectively used as positive and negative electrodes; See Figure 16, the first conductive bar A441 and the second conductive bar A442 of the same pair of crossbeam groups are respectively pressed against and conduct electricity with the first conductive block A451 and the second conductive block A452. The second conductive block A452 is pressed against, slides, and conducts electricity with the second conductive bar A442. One end of the second conductive block A452 is electrically connected to the conductive post A461. An insulating sleeve A530 is sleeved on the conductive post A461, and the insulating sleeve is made of a non-conductive material; the conductive post A461 is also electrically connected to one end of the spring wire A462, and the other end of the spring wire A462 is electrically connected to the first conductive block A451; the insulating sleeve A530 passes through the insulating partition A164 and is axially slidably assembled with it. The insulating partition A164 is installed in the conductive groove A165, and the conductive groove A165 is arranged on the first crossbeam A160. The second conductive block A452 is snap-fitted and slidably installed in the conductive groove A165, and an insulating spring A520 is sleeved on the part of the insulating sleeve A462 between the insulating partition A164 and the second conductive block A452. The insulating spring A520 exerts an elastic force on the second conductive block A452 to press it against the second conductive bar A442, so that the second conductive block A452 maintains electrical connection with the second conductive bar A442, and the insulating spring A520 is made of an insulating material. This design enables the first crossbeam and the second crossbeam to slide, and the first conductive bar A441 and the second conductive bar A442 of the same crossbeam group maintain electrical connection during sliding.

[0041] See Figures 14 - 16 , a crossbeam sliding groove A173 is further provided on the second crossbeam A170, and one end of the crossbeam sliding groove A173 is closed; a crossbeam block A163 is provided on the first crossbeam A160. The crossbeam block A163 is inserted into the crossbeam sliding groove A173 and is slidably assembled with it. The crossbeam block A163 is used to block the closed end of the crossbeam sliding groove A173 from passing through, thereby restricting the maximum adjustment width of the first crossbeam and the second crossbeam. Preferably, in order to prevent foreign matter from contaminating the side surface of the second conductive bar A442, resulting in a decrease in conductivity and increased wear between the second conductive block A452 and the second conductive bar A442, in this embodiment, a side brush A510 is further installed on the first crossbeam A160 near the crossbeam block A163. The bristles of the side brush A510 are pressed against the side surface of the second conductive bar A442. When the first crossbeam A160 and the second crossbeam 170 move relative to each other, the side surface of the second conductive bar A442 can be brushed by the side brush A510, so as to brush off the debris adsorbed on the side surface of the second conductive bar A442.

[0042] See Figure 2, industrial cameras A410 are also respectively installed on the two lifting top seats A120 and the first cross beam A160. The industrial cameras A410 are used to obtain on-site images for visual recognition. In the prior art, it is already possible to quickly identify the three-dimensional coordinate points (system coordinate system) of space and target points through industrial cameras. Then, by using the recognized spatial data in combination with the dimensions of the goods and the internal dimensions of the cargo compartment, the optimal or better stacking method of the goods can be deduced, so as to achieve the optimized stacking of the goods, save space, and realize the automatic loading and unloading of the goods. If combined with the existing driverless technology, unmanned logistics technology can be realized in the future, that is, automatic loading and unloading vehicles and automatic transportation, thus greatly improving efficiency and reducing costs.

[0043] See Figure 9 , the grasping module C includes a transverse movement component C100, a robotic arm C200, a jaw holder C300, a suction cup component C400, and a side pressing component C500. The transverse movement component C100 is installed on the first cross beam A160 and the second cross beam A170 and is slidably assembled therewith. The robotic arm C200 is installed on the transverse movement component C100 and the robotic arm C200 is assembled with the jaw holder C300. The suction cup component C400 and the side pressing component C500 are respectively installed on the jaw holder C300.

[0044] See Figures 1 - 6 , Figures 10 - 14 , Figures 17 - 19 , the transverse movement component C100 includes a first transverse movement seat C110 and a second transverse movement seat C120. The first transverse movement seat C110 and the second transverse movement seat C120 are connected and fixed by a transverse movement connecting seat C111. A transverse movement roller C105 is rotatably installed on the second transverse movement seat C120. The transverse movement connecting seat C111 passes through the cross beam groove A174 and is engaged and slidably assembled therewith. The first transverse movement seat C110 and the second transverse movement seat C120 clamp the first cross beam A160 and the second cross beam A170, and the transverse movement roller C105 presses against the top surfaces of the first cross beam A160 and the second cross beam A170. The robotic arm C200 and a transverse movement motor C610 are respectively installed on the first transverse movement seat C110. A first transverse movement gear C710 and a second transverse movement gear C720 are respectively installed on the motor shaft of the transverse movement motor C610. The first transverse movement gear C710 and the second transverse movement gear C720 are respectively meshed and driven with a first rack A162 and a second rack A172. During use, the transverse movement motor C610 drives the first transverse movement gear C710 and the second transverse movement gear C720 to rotate, so that the first transverse movement gear C710 and the second transverse movement gear C720 are respectively meshed with the first rack A162 and the second rack A172 to drive the transverse movement component C100 to move along the first cross beam A160 and the second cross beam A170, realizing lateral movement.

[0045] See Figures 18 - 19, preferably, a first sunk groove C711 is provided on the first transverse movement gear C710, and a first blocking block C712 is installed in the first sunk groove C711; a second sunk groove C721 is provided on the second transverse movement gear C720, and a second blocking block C722 is installed in the second sunk groove C721; the first blocking block C712 is inserted into the second sunk groove C721, and the second blocking block C722 is inserted into the first sunk groove C711, and a gear spring C730 is installed between the second blocking block C722 and the first blocking block C712. The gear spring C730 is used to generate an elastic force that hinders the second blocking block C722 and the first blocking block C712 from approaching each other, so as to maintain the initial states of the second blocking block C722 and the first blocking block C712. One of the first transverse movement gear C710 and the second transverse movement gear C720 is non-rotatably installed on the motor shaft of the side movement motor C610, and the other is rotatably installed on the motor shaft of the side movement motor C610. In actual use, the teeth on the first rack and the second rack may not be aligned. If both the first transverse movement gear C710 and the second transverse movement gear C720 are non-rotatably sleeved on the motor shaft of the side movement motor C610 at this time, it is very likely to cause jamming or tooth breakage. In this embodiment, one of the first transverse movement gear C710 and the second transverse movement gear C720 can rotate by a small angle for adaptation, so as to avoid jamming and tooth breakage. After the gear spring is compressed between the second blocking block C722 and the first blocking block C712, they cannot rotate relative to each other in the same rotation direction, thus ensuring the normal movement of the transverse movement assembly C100.

[0046] See Figures 12 - 13, preferably, two power-taking components are further installed on the second transverse moving seat C120. The power-taking components are used for electrically connecting with the first conductive bar A441 or the second conductive bar A442 of the corresponding crossbeam group to realize power taking. The power-taking component includes a power-taking arm C130. One end of the power-taking arm C130 is hinged to the transverse moving connecting seat C111 through a power-taking arm shaft C131. A first insulating box C140 is installed at the open end of the power-taking arm C130. A second insulating box C150 is installed on the part of the power-taking arm C130 between the power-taking arm shaft C131 and the first insulating box C140. Hollow first insulating chutes C141 and second insulating chutes C151 are respectively arranged inside the first insulating box C140 and the second insulating box C150. A first power-taking block C621 and a second power-taking block C631 are respectively and slidably installed in the first insulating chute C141 and the second insulating chute C151; the first power-taking block C621 can be pressed against the corresponding first conductive bar A441 to conduct electricity, and the second power-taking block C631 can be pressed against the corresponding second conductive bar A442 to conduct electricity. And the first power-taking block C621 and the second power-taking block C631 can only select one for power taking at the same time. In the initial state, the first power-taking block C621 is pressed against the corresponding first conductive bar A441 to conduct electricity, and the second power-taking block C631 does not contact the corresponding second conductive bar A442 for power taking. This design is mainly to avoid short circuit.

[0047] The first power-taking block C621 and the second power-taking block C631 are respectively electrically connected to one end of a first power-taking column C622 and a second power-taking column C632. The other end of the first power-taking column C622 passes through the first insulating box C140 after being sleeved with a first power-taking spring C101. The first power-taking spring C101 exerts a pushing force on the first power-taking block C621 to press it against the first conductive bar A441; the other end of the second power-taking column C632 passes through the power-taking arm C130 after being sleeved with a second power-taking spring C102. The second power-taking spring C102 exerts a pushing force on the second power-taking block C631 to press it against the second conductive bar A442. When the first power-taking block C621 is pressed against the corresponding first conductive bar A441 for power taking, the second power-taking block C631 moves to the maximum displacement point towards the corresponding second conductive bar A442 and does not contact the corresponding second conductive bar A442. At this time, power can be taken by pressing and sliding the first power-taking block C621 against the first conductive bar A441. Once the first power-taking block C621 is separated from the first conductive bar A441, the power-taking arm C130 will drive the second power-taking block C631 to move towards the second conductive bar A442 until it is pressed against for power taking due to the lack of support of the first power-taking block C621. At this time, power can be taken through the second power-taking block C631.

[0048] Two power-taking components are respectively electrically connected to two electrodes of the power supply connector C106. The power supply connector C106 is installed on the first transverse moving seat C110, and the power supply of the grasping module C is accessed through the power supply connector C106. In this embodiment, a load resistor and a relay are successively connected in series between the first power-taking block C621 and the second power-taking block C631. Two static contacts of the relay are respectively electrically connected to the first power-taking block C621 and the second power-taking block C631, a moving contact of the relay is electrically connected to the cable supplying power to the power supply connector C106, a control access end of the relay is respectively electrically connected to the positive and negative electrodes of a DC constant voltage power supply, and two current access ends of the DC constant voltage power supply are respectively electrically connected to the first power-taking block C621 and the second power-taking block C631. In the initial state, the relay electrically connects the first power-taking block C621 to the power supply connector C106. Once the first power-taking block C621 and the second power-taking block C631 are simultaneously connected to the first conductive bar A441 and the second conductive bar A442 to conduct electricity, the current is protected by the load resistor to prevent short circuit, and the large current enters the control access end of the relay after being converted by the DC constant voltage power supply to drive the relay to switch the moving contact, that is, to electrically connect the second power-taking block C631 to the power supply connector C106. This design mainly considers that during the moving process, the first power-taking block C621 and the second power-taking block C631 will be simultaneously powered on for a short time. In order to ensure stable power supply, a relay is added for switching. After the first power-taking block C621 and the second power-taking block C631 are simultaneously powered on again, the relay resets, that is, it returns to electrically connect the first power-taking block C621 to the power supply connector C106. Of course, in order to ensure the stable operation of the grasping module C, a UPS uninterruptible power supply is also installed in the grasping control box C640 in this embodiment. The UPS uninterruptible power supply comes with a built-in battery, so as to ensure the power supply to the grasping module C at the moment of relay switching. Of course, in this embodiment, the DC constant voltage power supply may not be set, and the control access end of the relay may be electrically connected to the PLC in the grasping control box C640, and the PLC controls the relay to switch after the first power-taking block C621 and the second power-taking block C631 are simultaneously connected to the first conductive bar A441 and the second conductive bar A442 to conduct electricity. Of course, at the moment when the first power-taking block C621 and the second power-taking block C631 are simultaneously connected to the first conductive bar A441 and the second conductive bar A442 to conduct electricity, the power supply of the power supply connector C106 to the grasping module C needs to be temporarily cut off and the UPS uninterruptible power supply is used for temporary power supply, so as to prevent the electrical equipment on the grasping module C from being burned out or impacted.

[0049] See Figure 13, preferably, a U-shaped spring C103 is installed between the open end of the power-taking arm C130 and the second transverse movement seat C120, and the U-shaped spring C103 has elasticity; the U-shaped spring C103 applies a torsion force to the power-taking arm C130 to make its open end rotate towards the first conductive bar, so as to ensure stable power-taking of the first power-taking block C621 and the second power-taking block C631. More preferably, a power-taking limit block C112 can be arranged on the transverse movement connection seat C111, and the power-taking limit block C112 is used to limit the maximum angle of rotation of the power-taking arm C130 towards the first conductive bar, so as to limit the maximum pressing force of the first power-taking block C621 and the second power-taking block C631 on the first conductive bar A441 and the second conductive bar A442 respectively, so as to ensure effective power-taking while reducing friction.

[0050] See Figure 17 , preferably, an end face brush C104 is installed on the second transverse movement seat C120, and the bristles of the end face brush C104 are respectively pressed against the first conductive bar A441 and the second conductive bar A442. When the transverse movement assembly C100 moves, the end faces of the first conductive bar A441 and the second conductive bar A442 can be scrubbed through the end face brush C104 to clean foreign matters on the end faces of the first conductive bar A441 and the second conductive bar A442, which is convenient for power-taking of the first conductive bar A441 and the second conductive bar A442.

[0051] See Figures 20 - 24 , the jaw holder C300 includes a jaw shell C310, a jaw vertical plate C320, a jaw top plate C330, and a jaw support plate C340. The jaw support plate C340 and the jaw shell C310 are both fixed on the jaw vertical plate C320. There are multiple jaw support plates C340, and a jaw roller C341 is respectively installed on each jaw support plate C340 in a circumferential rotation manner. A support plate inter-groove C342 is formed between the two jaw support plates C340; the jaw shell C310 is assembled with the robotic arm C200, so that the robotic arm can carry the jaw holder C300 to move.

[0052] On the part of the gripper vertical plate C320 located between the gripper support plate C340 and the gripper top plate C330, a suction cup assembly C400 is also installed. The suction cup assembly C400 includes a suction cup C410, a suction cup scissor mechanism C420, and a suction cup scissor driving cylinder C430. The two ends of the suction cup scissor mechanism C420 are respectively assembled with the gripper vertical plate C320 and the suction cup C410. The suction cup scissor driving cylinder C430 is installed on the gripper vertical plate C320 and is used to drive the suction cup scissor mechanism C420, so that the suction cup scissor mechanism C420 drives the suction cup C410 to move relative to the gripper vertical plate C320. The suction cup C410 is communicated with a vacuum tank through a spring tube C440. The vacuum tank is pumped by a vacuum pump to form a low pressure or a vacuum (close to vacuum) to provide negative pressure for the suction cup C410. The vacuum tank and the vacuum pump are both installed in the grasping control box C640, and the grasping control box C640 is installed on the gripper housing C310.

[0053] On both sides of the gripper top plate C330, side pressure assemblies C500 are respectively installed. The side pressure assembly C500 includes a side pressure plate C510, a side pressure scissor mechanism C520, and a side pressure driving cylinder C530. The two ends of the side pressure scissor mechanism C520 are respectively assembled with the side pressure plate C510 and the gripper top plate C330. The side pressure driving cylinder C530 is installed on the gripper top plate C330 and is used to drive the side pressure scissor mechanism C520 to operate (extend and retract), so as to drive the side pressure plate C510 to move relative to the gripper support plate C340.

[0054] When loading the goods 03, the goods first enter between the grasping support plate C340 and the grasping top plate C350. Then, the side pressure driving cylinder C530 is started to drive the side pressure plate C510 to move towards the goods 03 until it presses tightly on the goods 03 to clamp the goods. Then, the robotic arm C200 and the transverse movement motor C610 are started to move the goods to the stacking place and place them at the stacking place. The side pressure driving cylinder C530 is started to drive the side pressure plate C510 to move away from the goods and reset, releasing the pressing on the goods. The suction cup scissor driving cylinder C430 is started to drive the suction cup C410 to move away from the gripper vertical plate C320 to push out the goods 03, completing the stacking of the goods. When it is necessary to unload the goods 03, the grasping support plate C340 moves below the target goods. The suction cup scissor driving cylinder C430 is started to drive the suction cup C410 to move away from the gripper vertical plate C320 until the suction cup C410 presses tightly on the target goods. The vacuum tank provides suction negative pressure to the suction plate so that the suction cup tightly sucks the goods. The suction cup scissor driving cylinder C430 drives the suction cup C410 to move towards the gripper vertical plate C320 until the target goods are moved between the grasping support plate C340 and the grasping top plate C350. The side pressure driving cylinder C530 is started to make the side pressure plate C510 press tightly on the target goods. The robotic arm C200 and the transverse movement motor C610 move the target goods to the unloading place. The side pressure plate C510 moves up and resets to release the pressing on the target goods, and then the target goods can be output.

[0055] See Figures 21 - 23 , preferably, a clamping plate adjusting tube C350 is further installed on the clamping jaw vertical plate C320. The inside of the clamping plate adjusting tube C350 is a hollow adjusting tube groove C351, and the adjusting tube groove C351 is engaged and slidably assembled with the top plate adjusting rod C331. One end of the top plate adjusting rod C331 is fixed on the clamping jaw top plate C330; an adjusting rod clamping groove C332 is further provided on the top plate adjusting rod C331, and the adjusting rod clamping groove C332 is engaged and assembled with a locking tooth C361 on the locking block C360 to relatively fix the clamping plate adjusting tube C350 and the top plate adjusting rod C331; the locking block C360 is assembled with one end of a first connecting rod C371. The other end of the first connecting rod C371 passes through the holding plate C321 and is hinged to one end of a second connecting rod C372. The other end of the second connecting rod C372 is eccentrically hinged (hinged at a non-central position) to a locking disc C380. The locking disc C380 is sleeved on a locking shaft C381. The locking shaft 381 is respectively assembled with the clamping jaw vertical plate C320 and the shaft bracket C322, and the locking shaft 381 is further assembled with one end of a handle C390. The other end of the handle 390 is an open end; the holding plate C321 and the shaft bracket C322 are both installed on the clamping jaw vertical plate C320. A locking spring C301 is sleeved on the portion of the first connecting rod C371 between the locking block C360 and the holding plate C321. The locking spring C301 applies an elastic force to the locking block C360 to press it against the top plate adjusting rod C331, so that the locking tooth C361 remains tightly engaged with the adjusting rod clamping groove C332. When it is necessary to adjust the distance between the grasping top plate C330 and the grasping support plate C340, only need to rotate the locking disc C380 through the handle, so that the locking disc C380 pulls the first connecting rod C371 and the locking block C360 to move away from the top plate adjusting rod C331 through the second connecting rod C372. Until the adjusting rod clamping groove C332 is separated from the locking tooth C361, the distance between the clamping jaw vertical plate C320 and the grasping support plate C340 can be manually adjusted to adapt to goods 03 of different widths; after the adjustment is completed, release the handle 390, and the locking block C360 is pressed against the top plate adjusting rod C331 under the action of the locking spring C301 to fix the distance of the grasping top plate C330 relative to the grasping support plate C340.

[0056] See Figures 1 - 6 , Figure 10 , Figure 20 , Figures 25 - 24 (This seems incorrect in terms of order, but keeping as is), the conveying device B includes a conveying positioning module B100 and a conveying extension module B200. The conveying positioning module B100 includes a conveying positioning frame B110 and a conveying positioning seat B120. The conveying positioning seat B120 is installed on the conveying positioning frame B110. A positioning mounting block B111 is provided on the conveying positioning frame B110, and the positioning mounting block B111 is assembled and fixed with one of the lifting bases A110; a plurality of positioning universal wheels B520 are installed at the bottom of the conveying positioning seat B120, and the positioning universal wheels B520 are used to support the conveying positioning seat B120 and facilitate the movement of the conveying positioning module B100.

[0057] A positioning conveyor belt B320 is also installed on the conveying positioning frame B110. The positioning conveyor belt B320 is driven to operate by a positioning conveyor motor to convey the goods 03. A plurality of positioning support frames B130 are also installed on the conveying positioning seat B120. A positioning roller B131 is installed on the positioning support frame B130 to rotate circumferentially, and a support frame intermediate groove B132 is formed between the two positioning support frames B130. During use, the jaw support plate C340 is inserted into the support frame intermediate groove B132, and the positioning support frame B130 is inserted into the support plate intermediate groove C342, and then the goods 03 are conveyed to between the jaw support plate C340 and the jaw top plate C330 by the positioning conveyor belt B320 to complete the loading of the goods. Or the jaw support plate C340 moves the unloaded goods 03 to the positioning support frame B130 and the positioning conveyor belt B320. As the jaw support plate C340 moves down, the goods 03 can be placed on the positioning support frame B130 and the positioning conveyor belt B320, and then the unloaded goods are output by the positioning conveyor belt B320.

[0058] A positioning seat insertion groove B121 is also provided on the conveying positioning seat B120. The positioning seat insertion groove B121 is used for assembling with the extended conveying module B200 to facilitate the continuous conveying of goods.

[0059] The conveying extension module B200 includes an extension frame B210, on which an extension conveyor belt B310 is installed. The extension conveyor belt B310 is driven by an extension motor B410, so that the goods 03 can be conveyed between the conveying extension module B200 and the conveying positioning module B100. A plurality of extension universal wheels B510 are installed at the bottom of the extension frame B210, and the extension universal wheels B510 are used to support the extension frame B210 and facilitate the movement of the conveying extension module B200. An extension seat B220, an extension plug B211, and an extension connecting plate B212 are also installed on the extension frame B210. An extension slot B221 is provided on the extension seat B220; the extension plug B211 is inserted into the positioning seat insertion slot B121 and is snap-fitted therewith. The open end of the extension connecting plate B212 is closely attached to the outside of the conveying positioning seat B120, and an extension bolt B213 passes through the extension connecting plate B212 and is threadedly screwed and fixed with the conveying positioning seat B120, thereby assembling the conveying extension module B200 and the conveying positioning module B100 into one body.

[0060] Of course, it is also possible to assemble between two conveying extension modules B200. At this time, the extension plug B211 of the previous conveying extension module B200 is inserted into the extension slot B221 of the next conveying extension module B200, and the extension bolt B213 passes through the extension connecting plate B212 of the previous conveying extension module B200 and is assembled and fixed with the extension seat B220 of the next conveying extension module B200. This method can achieve multiple series connections of the conveying extension module B200 to meet the conveying requirements of different lengths.

[0061] In this embodiment, the process of loading the goods into the cargo compartment 02 is as follows:

[0062] S1. The main frame A carries the conveying device B into the cargo compartment 02, and the two lifting mechanisms move away from each other until the pressure values obtained by the four pressure sensors A430 are within the preset threshold, completing the positioning of the main frame and the cargo compartment;

[0063] S2. The industrial camera acquires the three-dimensional image of the cargo compartment, reconstructs the three-dimensional space and the corresponding coordinate system, and plans the placement method of the goods in combination with the size of the goods;

[0064] S3. The conveying device B delivers the goods to be loaded. The goods enter the conveying positioning module B100, and then are grabbed by the grabbing mechanism C, and are moved to the corresponding stacking position by the robotic arm C200, the cross-moving assembly C100, and the lifting of the main frame, and then the goods are pushed out to complete the stacking of the goods.

[0065] S4. Continuously repeat S1-S3 until the goods stacking is completed or the cargo compartment is full, and the main frame A exits the cargo compartment.

[0066] And the unloading process is as follows:

[0067] S1. Use an industrial camera and vision recognition technology to complete the positioning of the main frame A and the cargo compartment, adjust the main frame A to the center line position of the cargo compartment, obtain the stacking data of the first column of goods and calculate the unloading path;

[0068] S2. The grasping module C moves to the target goods, pulls the goods onto the jaw pallet C340 through a suction cup, clamps the goods, and then rotates the goods to the conveying and positioning module B100, and outputs the goods in combination with the conveying extension module B200;

[0069] S3. After the main frame A enters the cargo compartment, it is necessary to complete the positioning with the cargo compartment (the four pressure sensors A430 or the obtained pressure values are within the preset threshold), and then continue to unload the goods.

[0070] Embodiment 2

[0071] In Embodiment 1, the robotic arm C200 is used to carry the jaw frame C300 to move. Although this method has a large degree of freedom and is flexible, the cost of the robotic arm C200 is relatively high, and its load-bearing capacity is small. Therefore, it cannot be used when facing some heavier goods. For this reason, the following optimizations are made in this embodiment:

[0072] See Figures 28 - 35 , remove the robotic arm C200 and add a grasping frame C900. A first towing frame C160 and a second towing frame C170 are respectively installed on the first transverse movement seat C110. The two sides of the first transverse movement seat C110 are respectively hinged to one end of four towing link rods C810, and the other end of the four towing link rods C810 is hinged to the grasping frame C900, thus forming a parallelogram four-bar mechanism. The middle part of at least one towing link rod C810 is hinged to one end of a driving rod C820, and a link shaft C830 is installed at the other end of the driving rod C820. The link shaft C830 is circumferentially rotatably assembled with the telescopic shaft of the link electric cylinder C650, and the housing of the link electric cylinder C650 is hinged to the first transverse movement seat C110. After the link electric cylinder C650 is started, it can drive the telescopic shaft to axially expand and contract, thereby driving the grasping frame C900 to move relative to the first transverse movement seat C110 to realize the position adjustment of the grasping frame C900 in the conveying direction of the conveying module. On the one hand, this can realize the fine adjustment of the height of the grasping frame C900, and on the other hand, it can perform fine adjustment of the horizontal position in the conveying direction of the conveying module. At the same time, when the grasping frame C900 moves up, its top can approach the first cross beam A160, so as to adapt to higher goods. Since the top of the cargo compartment is generally closed, and the first cross beam A160, the transverse movement assembly C100, etc. will obviously occupy a certain height, which makes it impossible for the jaw frame to carry the goods to reach a height close to the top of the cargo compartment. However, the method of using a parallelogram four-bar mechanism in this embodiment can make the grasping frame C900 lift and move out from below the first cross beam, so as to adapt to the goods close to the top of the cargo compartment.

[0073] A first supporting frame C160 and a second supporting frame C170 are respectively provided with a first supporting plate C161 and a second supporting plate C171; an active support C910 is provided on the grasping frame C900, and a first active support plate C911 and a second active support plate C912 are respectively provided on the active support C910. The first active support plate C911 is located above and in contact with the second supporting plate C171. The first active support plate C911 is rotationally assembled with the bottom of the jaw housing C310 through a first rotary bearing C921; the second active support plate C912 is rotationally assembled with the top of the jaw housing C310 through a second rotary bearing C922, so that the jaw housing C310 can rotate relative to the active support C910. The edge of the second active support plate C912 is pressed against the top surface of the first supporting plate C161, so that the first supporting plate C161 supports the second active support plate C912.

[0074] A rotary electric cylinder C660 and a rack holder C930 are further installed on the active support C910. A rack plate optical axis C931 is installed on the rack holder C930. A rack plate C940 is axially slidably sleeved on the rack plate optical axis C931. A rotary rack C740 is installed on the rack plate C940. The rotary rack C740 is in meshing transmission with a rotary gear C750. The rotary gear C750 is sleeved on a rotary tube C950. The rotary tube C950 is assembled and fixed with the jaw housing C310 after passing through the second rotary bearing C922; the rack plate C940 is further assembled with the telescopic shaft of the rotary electric cylinder C660. After the rotary electric cylinder C660 is started, it can drive the rack plate C940 to axially move along the rack plate optical axis C931, so that the rotary rack C740 drives the rotary tube C950 to rotate, and thus drives the jaw housing C310 to rotate.

[0075] Preferably, an auxiliary industrial camera C601 is further installed on the grasping frame C900. The auxiliary industrial camera C601 is used to acquire images of the cargo stacking position for further spatial modeling and recognition, so as to facilitate the control of cargo stacking.

[0076] Preferably, the inside of the rotary tube C950 is a hollow tube hole C951. The tube hole C951 is rotationally assembled with a joint plug C603. The joint plug C603 is installed on the active support C910. The joint plug C603 is electrically connected to a power supply joint C106 through a wire C602 to supply power to the grasping module C. The way of passing the power supply line through the tube hole C951 can prevent the line from being wound and bent after the jaw housing C310 rotates. Of course, the power supply line is preferably a spring cable.

[0077] See Figures 34 - 35, in order to detect the rotation angle of the jaw housing C310, in this embodiment, a first travel switch C671 and a second travel switch C672 are further installed on the movable bracket C910, and a trigger piece C311 is installed on the jaw housing C310. The trigger piece C311 can selectively trigger the first travel switch C671 or the second travel switch C672. After the first travel switch C671 and the second travel switch C672 are triggered, they will input signals to the PLC, so that the PLC determines that the trigger piece C311 has rotated in place.

[0078] The process of stacking goods in this embodiment is as follows:

[0079] S1. The conveying device B conveys the goods to the conveying and positioning module B100, and the jaw frame C300 clamps the goods;

[0080] S2. The lifting mechanism is started to drive the goods to move up to a position higher than the conveying and positioning module B100;

[0081] S3. The rotary cylinder C660 is started to drive the jaw frame C300 and the goods to rotate 180°. Then, the transverse movement assembly C100 carries the goods to move in the width direction of the cargo compartment, and the lifting mechanism controls the goods to move in the height direction. If necessary, the link cylinder C650 can be started to find the stacking position;

[0082] S4. Move the goods closer to the stacking position, start the suction cup scissor drive cylinder C430, and push and place the goods at the corresponding position.

[0083] The process of taking out goods in this embodiment is the same as that in the first embodiment, except that the movement of the robotic arm is replaced by the link cylinder C650, the rotary cylinder C660 and the corresponding structures. Specifically, after taking out the goods, the jaw frame rotates 180°, then moves above the conveying and positioning module B100, and then the jaw frame moves down to reset and output the goods.

[0084] See Figures 28 - 30 、 Figures 36 - 40 , since the size of the goods will vary, and the conveying device B in the first embodiment adopts a fixed width method, which can only adapt to a very small part of the goods, so the adaptability is not wide. In this regard, the following optimizations are made in this embodiment:

[0085] Two conveying extension modules B200 form a pair and are used in pairs. The extension slots B221 of two pairs of conveying extension modules B200 are engaged and assembled with the extension blocks B211 of the next pair of conveying extension modules B200. The extension bolts B213 pass through the extension connecting plates B212 of the next pair of conveying extension modules B200 and are assembled and fixed with the extension seats B220 of the previous pair of conveying extension modules B200. The extension blocks B211 are inserted into the fixing frame grooves B231 of the fixing frame B230 and are engaged and assembled. The locking bolts B250 pass through the fixing frame B230 and press against the extension blocks B211 to fix a pair of conveying extension modules B200 in the width direction.

[0086] In the case where there is no next pair of conveying extension modules B200, the connecting block B240 needs to be used. The connecting block B240 is inserted into the extension slot B221. The connecting block B240 is provided with a block connecting plate B241. The extension bolt B213 passes through the block connecting plate B241 and is assembled and fixed with the extension seat B220. The connecting block B240 is inserted into the fixing frame groove B231 of the fixing frame B230 and is engaged and assembled. The locking bolt B250 passes through the fixing frame B230 and presses against the connecting block B240 to fix a pair of conveying extension modules B200 in the width direction. Here, the connecting block B240 can be regarded as the extension block B211. During use, the locking bolt B250 can be loosened to adjust the spacing of the same pair of conveying extension modules B200 to adjust the maximum width that can be conveyed, and then the locking bolt B250 can be tightened.

[0087] The conveying positioning module B100 is increased with a width adjustment part B600. The conveying positioning frame B110 is assembled and fixed with one of the lifting bases A110. The first width adjustment guide rail B140 and the positioning scissors mechanism B711 are installed on the conveying positioning frame B110. The two ends of the positioning scissors mechanism B711 are respectively assembled with the positioning belt frame B150 and the conveying positioning frame B110. The positioning belt frame B150 is installed on the conveying positioning seat B120. The positioning conveyor belt B320 and the positioning conveyor motor B420 are installed on the positioning belt frame B150. The positioning conveyor motor B420 drives the positioning conveyor belt B320 to run to convey goods. The positioning guide rail groove B122 is provided on the conveying positioning seat B120. The positioning guide rail groove B122 is engaged and slidably installed on the first width adjustment guide rail B140. After the positioning scissors mechanism B711 is started, it can drive the conveying positioning seat B120 to move along the first width adjustment guide rail B140, so as to adjust the position of the positioning conveyor belt B320 relative to the main frame.

[0088] A positioning support frame B130 is further installed on the conveying and positioning seat B120. A plurality of positioning rollers B131 are rotatably installed on the positioning support frame B130. The positioning support frame B130 in this embodiment is the same as that in the first embodiment. A positioning seat insertion slot B121 is further provided on the conveying and positioning seat B120. The function of the positioning seat insertion slot B121 is the same as that in the first embodiment.

[0089] The width adjustment part B600 includes a width adjustment frame B610. The width adjustment frame B610 and another lifting base A110 are assembled and fixed. A width adjustment scissor mechanism B712 and a second width adjustment guide rail B640 are respectively installed on the width adjustment frame B610. Two ends of the width adjustment scissor mechanism B712 are respectively assembled with the width adjustment frame B610 and a width adjustment sliding frame B630. The width adjustment sliding frame B630 is installed on a width adjustment seat B620. A width adjustment seat groove B622 and a width adjustment insertion slot B621 are provided on the width adjustment seat B620. The function of the width adjustment insertion slot B621 is the same as that of the positioning seat insertion slot B121, and is mainly used for connecting and assembling with the corresponding conveying extension module B200. A width adjustment conveyor belt B330 and a width adjustment support frame B630 are installed on the width adjustment sliding frame B630. A width adjustment roller B631 is rotatably installed on the circumference of the width adjustment support frame B630. The function of the width adjustment support frame B630 is the same as that of the positioning support frame B130, and both are used to assist in supporting goods. The width adjustment conveyor belt B330 is used to convey goods, and the width adjustment conveyor belt B330 is driven by a width adjustment motor B450. The width adjustment motor B450 is installed on the width adjustment support frame B630.

[0090] The positioning guide rail groove B122 and the width adjustment seat groove B622 can be snap-fitted and slidably mounted on the first width adjustment guide rail B140 and the second width adjustment guide rail B640, and the first width adjustment guide rail B140 and the second width adjustment guide rail B640 are snap-fitted and slidably assembled with each other. During use, the width adjustment frame B610 and the conveying and positioning frame B110 move along with the movement of the two lifting mechanisms, which causes the first width adjustment guide rail B140 and the second width adjustment guide rail B640 to be pulled away from each other. However, there must be an overlapping part of 20 cm or more between the first width adjustment guide rail B140 and the second width adjustment guide rail B640 to ensure the connection stiffness between the width adjustment part B600 and the conveying and positioning module B100. By separately driving the width adjustment scissor mechanism B712 and the positioning scissor mechanism B711 to extend, the conveying and positioning seat B120 and the width adjustment seat B620 are driven to move closer to each other until the positioning conveyor belt B320 and the width adjustment conveyor belt B330 can respectively press against both ends of the goods for conveying the goods. At this time, the conveying and positioning seat B120 is at least snap-fitted with the first width adjustment guide rail B140, and the width adjustment seat B620 is at least snap-fitted with the second width adjustment guide rail B640, so as to effectively ensure the stable conveying of the positioning conveyor belt B320 and the width adjustment conveyor belt B330. In this embodiment, there are two first width adjustment guide rails B140 and two second width adjustment guide rails B640 respectively, which further increases the stability of the conveying and positioning seat B120 and the width adjustment seat B620. Because even when the first width adjustment guide rail B140 and the second width adjustment guide rail B640 overlap, the two first width adjustment guide rails B140 can be clamped with the two second width adjustment guide rails B640, thereby increasing the connection stiffness.

[0091] Preferably, the width adjustment scissor mechanism B712 and the positioning scissor mechanism B711 are respectively driven by different drive components. The drive components include a screw rod B730, a scissor slider B722, and a slider guide rail B721. The scissor slider B722 is mounted on the conveying and positioning frame B110 or the width adjustment frame B610. The screw rod B730 is rotatably mounted on the conveying and positioning frame B110 or the width adjustment frame B610 without axial movement. The screw rod B730 passes through the scissor slider B722 and is threadedly assembled with it. The scissor slider B722 is snap-fitted and slidably mounted on the slider guide rail B721. One end of the screw rod B730 is connected to the output shaft of the scissor motor B430. After the scissor motor B430 is started, it can drive the screw rod B730 to rotate, and the screw rod B730 drives the scissor slider B722 to move, thereby driving the corresponding width adjustment scissor mechanism B712 or positioning scissor mechanism B711 to expand and contract.

[0092] Preferably, to ensure the power supply of the positioning and conveying motor B420 and the width adjustment motor B450, in this embodiment, a first conveying cable reel B441 and a second conveying cable reel B442 are respectively installed on the conveying and positioning frame B110 and the width adjustment frame B610. The cables of the first conveying cable reel B441 and the second conveying cable reel B442 supply power to the conveying motor B420 and the width adjustment motor B450 respectively, so that the conveying motor B420 and the width adjustment motor B450 can still obtain power supply after moving. The current of the first conveying cable reel B441 and the second conveying cable reel B442 is respectively connected from the corresponding lifting mechanism. In this embodiment, the motors and the electric cylinders are all servo motors and servo electric cylinders, mainly to ensure synchronization. For example, for the extension motor B410, the positioning and conveying motor B420, and the width adjustment motor B450 of the same pair of conveying extension modules B200, and the electric cylinders that drive the lifting mechanism to lift and lower, etc. At present, the servo motors can achieve almost synchronization at thousands of revolutions per minute, fully meeting the requirements of this case. Of course, this is common knowledge and will not be elaborated in this case.

[0093] In this embodiment, the width adjustment insertion slot B620 and the corresponding extension insertion block B211 are snap-fitted, and the extension bolt B213 passes through the extension connecting plate B212 and then is assembled with the width adjustment seat B620, so as to realize the assembly and fixation of the width adjustment part B600 and the corresponding conveying extension module B200.

[0094] The scissor mechanism of this embodiment is also called a scissor-type mechanism, which is a very mature existing technology. The specific principle can be viewed in the scissor mechanism part (the lifting drive part) of the existing scissor-type elevator.

Claims

1. A cargo compartment loading and unloading system, characterized in that, include: The main frame is used to position the cargo compartment and to carry the grab module for lifting; The grabbing module is movably mounted on the main frame and is used to grab the goods and transport them to the designated location for loading and unloading; The conveying device is used to convey goods and use the conveying positioning module to position and place the goods so that the grabbing module can load or unload the goods; The main frame is loaded into the cargo compartment, and different side components are installed on both sides of the main frame, the side components include a first side plate and a second side plate, the first side plate is installed on the corresponding lifting top seat, and the first side plate and the side sliding shaft can be axially slidably assembled, the side sliding shaft and the second side plate are assembled and fixed, and the side sliding shaft is located between the first side plate and the second side plate. The part of the side sliding shaft between the first side plate and the second side plate is sleeved with a side spring, and the side spring applies a thrust to the second side plate away from the first side plate; a pressure sensor is installed on the first side plate, and the contact pressure end of the pressure sensor is facing the first side plate; if the pressure values ​​output by the pressure sensors of the side components on both sides of the main frame are within the preset threshold range, it is judged that the main frame and the cargo compartment are positioned and pressed; The main frame includes two lifting mechanisms, each of which includes a lifting base, a scissor lifting mechanism, and a lifting top seat, and the lifting base and the lifting top seat are respectively installed at the upper and lower ends of the scissor lifting mechanism; at least two main frame wheels are also installed on the lifting base; The lifting top seat of one lifting mechanism is assembled with one end of the first cross beam, and the lifting top seat of the other lifting mechanism is assembled with one end of the second cross beam, and the first cross beam and the second cross beam are staggered, engaged, and slidably assembled; There are two first crossbeams and two second crossbeams respectively, the two first crossbeams are respectively installed on the outsides of the two second crossbeams, a crossbeam groove is formed between the two second crossbeams, and the second crossbeams and the first crossbeams on both sides of the crossbeam groove are respectively a pair of crossbeam groups, that is, there is a pair of crossbeam groups on both sides of the crossbeam groove; The first crossbeam is provided with a first crossbeam platform and a first rack respectively, and the second crossbeam is provided with a second crossbeam platform and a second rack respectively; The first crossbeam platform and the second crossbeam platform are respectively installed with a first conductive strip and a second conductive strip; the first conductive strip and the second conductive strip are made of highly conductive materials; The first conductive strips or the second conductive strips of the two pairs of beam groups are electrically connected to the two electrodes of the DC power supply respectively; the first conductive strips and the second conductive strips of the same pair of beam groups are pressed and electrically conductive with the first conductive block and the second conductive block respectively, the second conductive block is pressed and slid with the second conductive strip, and electrically conductive, the second conductive block is electrically connected to one end of the lead-in column, and the lead-in column is covered with an insulating sleeve; The current-conducting column is also electrically connected to one end of the spring wire, and the other end of the spring wire is electrically connected to the first conductive block; the insulating sleeve passes through the insulating partition and is axially slidably assembled with it, the insulating partition is installed in the current-conducting groove, the current-conducting groove is arranged on the first crossbeam, the second conductive block is engaged and slidably installed in the current-conducting groove, and an insulating spring is mounted on the part of the insulating sleeve located between the insulating partition and the second conductive block, the insulating spring applies an elastic force to press the second conductive block against the second conductive strip, so that the second conductive block remains pressed against the second conductive strip for electrical conduction.

2. The cargo compartment loading and unloading system according to claim 1, characterized in that The grasping module includes a transverse movement component and a jaw frame. The transverse movement component is installed on the main frame, and the jaw frame is used for grasping goods. A first carrier and a second carrier are respectively installed on the first transverse movement seat of the transverse movement component. One ends of four carrier connecting rods are respectively hinged to two sides of the first transverse movement seat, and the other ends of the four carrier connecting rods are hinged to the grasping frame, thus forming a parallelogram four-bar mechanism. The middle part of at least one carrier connecting rod is hinged to one end of a driving rod. A connecting rod shaft is installed at the other end of the driving rod. The connecting rod shaft is circumferentially rotatably assembled with the telescopic shaft of a connecting rod electric cylinder, and the housing of the connecting rod electric cylinder is hinged to the first transverse movement seat. A first support plate and a second support plate are respectively arranged on the first carrier and the second carrier; an activity support is arranged on the grasping frame, and a first activity support plate and a second activity support plate are respectively arranged on the activity support. The first activity support plate is located above and in contact with the second support plate, and the first activity support plate is rotatably assembled with the bottom of the jaw shell through a first turntable bearing; the second activity support plate is rotatably assembled with the top of the jaw shell through a second turntable bearing; the edge of the second activity support plate is pressed against the top surface of the first support plate. A rotary electric cylinder and a rack holder are further installed on the activity support. A rack plate optical axis is installed on the rack holder. A rack plate is axially slidably sleeved on the rack plate optical axis. A rotary rack is installed on the rack plate. The rotary rack is meshed with a rotary gear. The rotary gear is sleeved on a rotary tube. The rotary tube passes through the second turntable bearing and is fixedly assembled with the jaw shell of the jaw frame; the rack plate is further assembled with the telescopic shaft of the rotary electric cylinder.

3. The cargo compartment loading and unloading system according to claim 2, wherein The jaw frame further includes a jaw vertical plate, a jaw top plate and a jaw support plate. The jaw support plate and the jaw shell are both fixed on the jaw vertical plate. There are multiple jaw support plates, and jaw rollers are respectively installed on each jaw support plate in a circumferentially rotatable manner. A slot between support plates is formed between two jaw support plates. A suction cup assembly is further installed on the part of the jaw vertical plate between the jaw support plate and the jaw top plate. The suction cup assembly includes a suction cup, a suction cup scissor mechanism and a suction cup scissor driving cylinder. Two ends of the suction cup scissor mechanism are respectively assembled with the jaw vertical plate and the suction cup. The suction cup scissor driving cylinder is installed on the jaw vertical plate and is used for driving the suction cup scissor mechanism.

4. The cargo compartment loading and unloading system according to claim 2, characterized in that, The transverse movement component further includes a second transverse movement seat. The first transverse movement seat and the second transverse movement seat are fixedly connected through a transverse movement connecting seat. A transverse movement roller is circumferentially rotatably installed on the second transverse movement seat; the transverse movement connecting seat passes through and is engaged with and slidably assembled with a beam slot. The first transverse movement seat and the second transverse movement seat clamp a first beam and a second beam, and the transverse movement roller is pressed against the top surfaces of the first beam and the second beam. A robotic arm and a transverse movement motor are respectively installed on the first transverse movement seat. A first transverse movement gear and a second transverse movement gear are respectively installed on the motor shaft of the transverse movement motor. The first transverse movement gear and the second transverse movement gear are respectively meshed with a first rack and a second rack for transmission.

5. The cargo compartment loading and unloading system according to claim 4, characterized in that, Two power-taking components are also installed on the second transverse moving seat, and the power-taking components are used for electrically connecting with the first conductive bar or the second conductive bar of the corresponding crossbeam group; the power-taking component includes a power-taking arm, one end of the power-taking arm is hinged to the transverse moving connecting seat through a power-taking arm shaft, a first insulating box is installed at the open end of the power-taking arm, and a second insulating box is installed on the part of the power-taking arm between the power-taking arm shaft and the first insulating box. Hollow first insulating chutes and second insulating chutes are respectively arranged inside the first insulating box and the second insulating box, and a first power-taking block and a second power-taking block are respectively slidably installed in the first insulating chute and the second insulating chute; the first power-taking block can be pressed against the corresponding first conductive bar for conduction, and the second power-taking block can be pressed against the corresponding second conductive bar for conduction. In the initial state, the first power-taking block is pressed against the corresponding first conductive bar for conduction, and the second power-taking block is not in contact with the corresponding second conductive bar for power-taking; the first power-taking block and the second power-taking block are respectively electrically connected to one end of a first power-taking column and a second power-taking column. The other end of the first power-taking column passes through the first insulating box after being sleeved with a first power-taking spring, and the first power-taking spring applies a pushing force to the first power-taking block to press it against the first conductive bar; the other end of the second power-taking column passes through the power-taking arm after being sleeved with a second power-taking spring, and the second power-taking spring applies a pushing force to the second power-taking block to press it against the second conductive bar; the two power-taking components are respectively electrically connected to the two electrodes of the power supply connector. The power supply connector is installed on the first transverse moving seat, and the power supply of the gripping module is connected through the power supply connector.

6. The cargo compartment loading and unloading system according to claim 5, characterized in that, A load resistor and a relay are successively connected in series between the first power-taking block and the second power-taking block. The two static contacts of the relay are respectively electrically connected to the first power-taking block and the second power-taking block, and the moving contact of the relay is electrically connected to the cable supplying power to the power supply connector. The relay controls the first power-taking block and the second power-taking block to be selectively electrically connected to the power supply connector. A gripping control box is also installed on the gripping frame. A UPS uninterruptible power supply is installed in the gripping control box. The UPS uninterruptible power supply has its own battery to ensure the power supply to the gripping module at the moment of relay switching; the control access end of the relay is electrically connected to the PLC in the gripping control box, and the PLC controls the relay to switch after the first power-taking block and the second power-taking block are simultaneously connected to the first conductive bar and the second conductive bar for conduction.

7. The cargo compartment loading and unloading system according to claim 4, characterized in that A first sinking groove is arranged on the first transverse moving gear, and a first blocking block is installed in the first sinking groove; a second sinking groove is arranged on the second transverse moving gear, and a second blocking block is installed in the second sinking groove; the first blocking block is inserted into the second sinking groove, and the second blocking block is inserted into the first sinking groove. A gear spring is installed between the second blocking block and the first blocking block, and the gear spring is used to generate an elastic force that hinders the second blocking block and the first blocking block from approaching each other; one of the first transverse moving gear and the second transverse moving gear is non-circumferentially rotatably installed on the motor shaft of the side moving motor, and the other is circumferentially rotatably installed on the motor shaft of the side moving motor.

8. The cargo compartment loading and unloading system according to claim 1, characterized in that, The conveying device includes a conveying and positioning module and a width adjustment part. The conveying and positioning module includes a conveying and positioning frame, and the conveying and positioning frame is assembled and fixed to one of the lifting bases; a first width adjustment guide rail and a positioning scissors mechanism are installed on the conveying and positioning frame. The two ends of the positioning scissors mechanism are respectively assembled with the positioning belt frame and the conveying and positioning frame. The positioning belt frame is installed on the conveying positioning seat, and a positioning conveyor belt and a positioning conveyor motor are installed on the positioning belt frame. The positioning conveyor motor drives the positioning conveyor belt to run for conveying goods; a positioning guide rail groove is provided on the conveying positioning seat, and the positioning guide rail groove is engaged and slidably installed on the first width adjustment guide rail; The width adjustment part includes a width adjustment frame, and the width adjustment frame is assembled and fixed to the other lifting base. A width adjustment scissors mechanism and a second width adjustment guide rail are respectively installed on the width adjustment frame. The two ends of the width adjustment scissors mechanism are respectively assembled with the width adjustment frame and the width adjustment sliding frame. The width adjustment sliding frame is installed on the width adjustment seat, and a width adjustment seat groove is provided on the width adjustment seat; a width adjustment conveyor belt is installed on the width adjustment sliding frame. The width adjustment conveyor belt is used for conveying goods and is driven by a width adjustment motor, and the width adjustment motor is installed on the width adjustment support frame; The positioning guide rail groove and the width adjustment seat groove can both be engaged and slidably installed on the first width adjustment guide rail and the second width adjustment guide rail, and the first width adjustment guide rail and the second width adjustment guide rail are engaged and slidably assembled with each other.

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