A cargo handling system

Abstract

The application discloses a kind of cargo handling systems, including handling body and lifting mechanism;First drive mechanism is provided on handling body;Second drive mechanism is provided on lifting mechanism;Accommodating groove is provided on handling body for lifting mechanism to enter and exit handling body;Lifting mechanism is arranged between handling body and lifting mechanism;Lifting mechanism includes lifting motor, transmission assembly, lifting arm, lifting block, lifting groove;Lifting motor is installed on handling body, lifting block is installed at the end of lifting arm, and lifting groove is arranged at the rear end of lifting mechanism;Lifting motor rotates in both directions to drive lifting arm to rotate, so that lifting block is lifted to enter or leave lifting groove, so that lifting mechanism and handling body are integrated or separated;When lifting mechanism and handling body are integrated, at least one end of the front and rear ends of lifting mechanism is off the ground.In the application, the ground adaptability of the lifting mechanism is improved, the stability of the lifting mechanism during extension and retraction is improved, the ground adaptability of the whole vehicle is improved, and there is no abnormal wear.

Description

Technical Field

[0001] This invention relates to the field of automated handling, specifically a cargo handling system. Background Technology

[0002] Currently, AGVs used for material handling are mostly in the form of forklifts. AGV forklifts mainly consist of a frame and forks. Existing technology includes a "cart"-like receiving slot on the frame to carry the forks. The forks are connected to the frame via guide rails. The forks have retractable casters that extend when leaving the receiving slot and retract when returning. After returning to the receiving slot, an additional locking mechanism is needed to prevent the forks from moving independently of the frame. Examples of AGV forklift handling mechanisms disclosed in patent publications include "CN114590745A—A Handling Trolley," "CN210620154U—Telescopic Fork Mechanism and Automatic Handling Equipment," and "CN208963204U—Automatic Handling Equipment."

[0003] The above-mentioned device has a complex overall structure. In order to improve the AGV's adaptability to the ground, the height of the chassis needs to be increased. This means that the fork arms also need to be raised to accommodate the increased chassis height. However, when picking up goods, the fork arms need to be relatively low to access the pallet or the items below to lift the pallet. Therefore, if the height of the fork arms is increased, the AGV's adaptability to pallets will be reduced, and the AGV will be unable to pick up or place many pallets with low insertion holes.

[0004] Furthermore, since the fork arms are placed on the frame and connected to the frame via guide rails, significant friction occurs between the fork arms and the frame when the fork arms lift the goods and the frame moves under the goods to pick them up or put them down. This friction not only causes wear and tear on the equipment but also easily causes the casters of the fork arms to slip, affecting the accuracy of picking and placing goods and even causing picking and placing failures. Summary of the Invention

[0005] The purpose of this invention is to provide a cargo handling system that can solve one or more of the above-mentioned technical problems.

[0006] To achieve the above objectives, the technical solution proposed by this invention is as follows:

[0007] A cargo handling system includes a handling body and a lifting mechanism; the handling body is provided with a first drive mechanism;

[0008] The lifting mechanism is equipped with a second drive mechanism;

[0009] The first drive mechanism and the second drive mechanism are independent of each other, so that the transport body and the lifting mechanism can operate independently yet in coordination.

[0010] The transport body is provided with a receiving groove for the lifting mechanism to enter and exit the transport body; the receiving groove has no bottom and no cover;

[0011] A lifting mechanism is provided between the transport body and the lifting mechanism;

[0012] The lifting mechanism allows the lifting mechanism to become integrated with the transport body after entering the receiving slot, so that the lifting mechanism moves with the transport body to a designated position;

[0013] The lifting mechanism includes a lifting motor, a transmission assembly, a lifting arm, a lifting block, and a lifting groove;

[0014] The lifting motor is mounted on the transport body, the lifting arm is connected to the lifting motor via the transmission assembly, and the lifting block is mounted at the end of the lifting arm.

[0015] The lifting groove is located at the rear end of the lifting mechanism;

[0016] The lifting motor rotates in both forward and reverse directions to drive the lifting arm to rotate, causing the lifting block to rise and fall into or leave the lifting slot, so that the lifting mechanism and the transport body can be combined or separated.

[0017] When the lifting mechanism and the transport body are combined, at least one end of the lifting mechanism is off the ground.

[0018] Furthermore, the lifting block is a rolling element, which is mounted on the lifting arm via a rotating shaft.

[0019] Furthermore, the lifting arm is L-shaped, such that the rotation center of the lifting block at the end of the lifting arm is not on the same horizontal line as the rotation center of the lifting arm.

[0020] Furthermore, the lifting groove is a square groove with an opening at the top or bottom.

[0021] Furthermore, the lifting mechanism also includes a photoelectric switch, which is disposed on the lifting or rotation path of the lifting arm.

[0022] Furthermore, it also includes a guide assembly disposed between the transport body and the lifting mechanism;

[0023] The guiding component includes a guiding surface and a guiding block. The guiding surface includes a horizontal surface and an inclined surface that are in contact. The guiding block, together with the lifting mechanism and the transport body, passes through the inclined surface and engages with the horizontal surface, so that the front and rear ends of the lifting mechanism are completely off the ground.

[0024] Furthermore, the guide block is installed on the side of the lifting mechanism, and the guide surface is correspondingly installed on the side wall of the receiving groove.

[0025] Furthermore, the first drive mechanism includes a first drive motor and a first roller, with the first motor and the first roller being connected in a transmission manner.

[0026] Furthermore, the second drive mechanism includes a drive wheel assembly and a driven wheel assembly. The drive wheel assembly includes a drive wheel motor and a drive wheel. The drive wheel assembly and the driven wheel assembly are respectively located at the front and rear ends of the lifting mechanism.

[0027] Furthermore, a guide bar is provided in the receiving groove. The guide bar is installed along the length direction of the lifting mechanism and limits the two side walls of the lifting mechanism.

[0028] The technical effects of this invention are:

[0029] In this invention, the lifting mechanism no longer needs the support of the transport body during operation, and the casters of the lifting mechanism have good contact with the ground, which improves the ground adaptability of the lifting mechanism and the stability of the lifting mechanism during the extension and retraction process.

[0030] The ground clearance of the transporter's frame is not limited by the lifting mechanism's cargo-retrieving height, which can improve the vehicle's ground adaptability.

[0031] Since there are no guide rails or chassis restricting the lifting mechanism and the transport body, there is no significant friction, no abnormal wear, and the lifting mechanism will not slip when entering or exiting the receiving slot. Attached Figure Description

[0032] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] In the attached diagram:

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the lifting motor structure;

[0036] Figure 3 This is a structural diagram of the transmission assembly and the lifting arm;

[0037] Figure 4 This is a schematic diagram of the lifting mechanism in this invention;

[0038] Figure 5 This is a schematic diagram of the lifting mechanism in its lowered state;

[0039] Figure 6 This is a schematic diagram of the lifting mechanism's extension and retraction process;

[0040] Figure 7 This is a diagram showing the lifting mechanism in its retracted state.

[0041] In the attached diagrams above:

[0042] The transport body 100, first pulley 1, lifting motor bracket 2, lifting motor 3, lifting motor adapter plate 4, swing arm 5, swing arm shaft 6, photoelectric baffle 7, lowering detection photoelectric device 8, second pulley 9, bearing seat 10, bearing seat adapter plate 11, retracting detection photoelectric device 12, lifting block 13, bearing shaft 14, first guide block 15, guide bar 16, first guide surface 17, lifting mechanism 18, lifting mechanism 19, lifting groove 20, second guide surface 21, second guide block 22. Detailed Implementation

[0043] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The illustrative embodiments and descriptions are only used to explain the present invention and are not intended to unduly limit the present invention.

[0044] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0048] like Figure 1 — Figure 7 As shown, a cargo handling system includes a handling body 100 and a lifting mechanism 18; a first drive mechanism is provided on the handling body 100. In some embodiments, the first drive mechanism includes a first drive motor and a first roller, the first motor and the first roller being velocarily connected. The first roller is preferably a Mecanum wheel.

[0049] The lifting mechanism is equipped with a second drive mechanism; in some embodiments, the second drive mechanism includes a drive wheel assembly and a driven wheel assembly. The drive wheel assembly includes a drive wheel motor and a drive wheel, and the drive wheel assembly and the driven wheel assembly are respectively located at the front and rear ends of the lifting mechanism. The positions of the drive wheel assembly and the driven wheel are not limited, but it is preferred that the drive wheel assembly is located at the front end of the lifting mechanism for easy directional control.

[0050] The lifting mechanism is preferably equipped with a scissor lift assembly, or other hydraulic or pneumatic lifting components, for lifting goods; the specific structure is not limited.

[0051] The first drive mechanism and the second drive mechanism are independent of each other, so that the transport body and the lifting mechanism can operate independently yet in coordination.

[0052] The transporter and lifting mechanism can work independently, or they can cooperate in an orderly manner through certain procedures to achieve the transfer of goods.

[0053] The transport body is provided with a receiving groove for the lifting mechanism to enter and exit the transport body; the receiving groove has no bottom and no cover.

[0054] Unlike the "cart bed" type of storage tank in existing technology, the storage tank here has no bottom. When the lifting mechanism works with the transport body, it will not generate excessive friction, reduce wear and tear, and improve service life.

[0055] A lifting mechanism is provided between the transport body and the lifting mechanism; the lifting mechanism allows the lifting mechanism to become integrated with the transport body after entering the receiving slot, so that the lifting mechanism moves with the transport body to a designated position.

[0056] In some embodiments, the lifting mechanism 19 includes a lifting motor 3, a transmission assembly, a lifting arm, a lifting block, and a lifting groove 20. The lifting motor is mounted on the transport body, the lifting arm is connected to the lifting motor via the transmission assembly, and the lifting block is mounted at the end of the lifting arm.

[0057] Here, the lifting motor 3 is fixed on the lifting motor bracket 2. The lifting motor can be a worm gear motor or a motor with a holding brake to ensure self-locking in the event of power failure, thus fixing its position in the absence of power. The lifting motor bracket 2 is fixed on the lifting motor adapter plate 4, which is fixedly mounted on the transport body. The transmission assembly includes a first pulley 1 and a second pulley 9, which are connected by a synchronous belt 17. The first pulley 1 is mounted on the main shaft of the lifting motor 3, and the second pulley 9 is mounted on a bearing seat 10, which is fixed to a bearing seat adapter plate 11. The lifting arm is mounted on the second pulley 9. Specifically, the lifting arm includes a swing rod 5 and a swing rod shaft 6, which form an "L"-shaped rod. The swing rod shaft 6 is mounted on the second pulley 9, and the swing rod 5 is mounted at the end of the swing rod shaft 6. In this way, when the swing rod shaft 6 rotates with the main shaft of the lifting motor, the end of the swing rod 5 will not be concentric with the rotation center of the swing rod shaft 6—that is, it will be eccentric. This will result in a larger lifting range of the lifting arm. Alternatively, the lifting arm can be a straight rod eccentrically mounted on the second pulley 9 to achieve eccentric rotation lifting.

[0058] The lifting block 13 is preferably made of a rolling element, such as a bearing (in the attached...). Figure 3 In the middle, the bearing is installed at the end of the rocker arm 5 through the bearing shaft 14, which can effectively reduce friction and wear.

[0059] The lifting groove is located at the rear end of the lifting mechanism; the lifting groove is a square groove with an opening at the top or bottom.

[0060] The lifting motor rotates in both forward and reverse directions to drive the lifting arm to rotate, causing the lifting block to rise and fall into or leave the lifting slot, so that the lifting mechanism can be combined with or separated from the transport body.

[0061] When the lifting mechanism and the transport body are combined, at least one end of the lifting mechanism is off the ground.

[0062] In this application, the number of receiving slots is set according to actual needs, and each receiving slot is equipped with a corresponding lifting mechanism. Several lifting mechanisms can share a single lifting mechanism and are linked together through a transmission component.

[0063] In the appendix Figure 1 The system provides two lifting mechanisms that share a common fork arm retraction structure. When the lifting mechanism is retracted, its movement can be restricted, eliminating the need for a separate locking component for the lifting mechanism 18, resulting in a simpler and more reliable structure.

[0064] This invention achieves the overall retraction and extension of the fork arm from the frame by designing a lifting mechanism, thereby allowing the casters of the lifting mechanism to contact the ground and complete the extension and retraction of the lifting mechanism.

[0065] The lifting mechanism in this handling system operates as follows:

[0066] The lifting mechanism drives the first pulley 1 to rotate via the rotation of the lifting motor 3, and then the second pulley 9 and the rocker arm shaft 6 rotate accordingly via the synchronous belt 17. The rocker arm 5 is fixedly connected to the rocker arm shaft 6 and rotates with the rocker arm shaft 6.

[0067] When the photoelectric baffle 7 blocks the lowering detection photoelectric device 8, it sends a lowering-in-position signal; when the photoelectric baffle 7 blocks the retraction detection photoelectric device 12, it sends a retraction-in-position signal.

[0068] The handling method of this handling system is as follows:

[0069] First, the lifting mechanism 19 lowers the lifting mechanism, and the casters at the front and rear ends of the lifting mechanism directly touch the ground. It moves away from the transport body along the length of the receiving groove until it reaches the bottom of the goods to be lifted (e.g., a pallet).

[0070] The lifting mechanism lifts the goods from below; at the same time, the transport body moves toward the lifting mechanism, or the lifting mechanism lifts the goods to a height exceeding the height of the transport body before moving them toward the lifting mechanism.

[0071] The transporter moves under the lifting mechanism, which then lowers to place the goods onto the transporter.

[0072] The lifting mechanism continues to move backward along the receiving groove, or the transport body continues to move forward, so that the lifting mechanism comes into contact with the hoisting mechanism and lifts the hoisting mechanism off the ground;

[0073] The transporter, carrying the lifting mechanism, transports the goods to the designated location.

[0074] Alternatively, the lifting mechanism may leave the first transport body directly, cooperate with other transport bodies to complete the transport, and then return to the interior of a transport body; this is not limited here.

[0075] In some embodiments, the lifting mechanism further includes a photoelectric switch disposed on the lifting or rotation path of the lifting arm. The photoelectric switch includes a photoelectric baffle and a detection photoelectric device; a photoelectric baffle 7 is disposed on the swing arm shaft, and a lowering detection photoelectric device 8 and a retracting detection photoelectric device 12 are mounted on the bearing seat 10; this limits the rotation position of the lifting arm, and the position of the detection photoelectric device can be adjusted as needed; alternatively, a servo motor with an absolute encoder can be used to detect the rotation angle of the swing arm, replacing the combination of photoelectric baffle 7, lowering detection photoelectric device 8, and retracting detection photoelectric device 12, without limitation.

[0076] In some embodiments, a guide assembly is also included, disposed between the transport body 100 and the lifting mechanism 18. The guide assembly includes a guide surface and a guide block. The guide surface includes a horizontal surface and an inclined surface that meet. The guide block, as the lifting mechanism is assembled with the transport body, passes through the inclined surface and engages with the horizontal surface, so that the front and rear ends of the lifting mechanism are completely off the ground.

[0077] The guide block is preferably a rolling element, such as a bearing or a roller; the rolling element achieves rolling friction, which effectively reduces wear.

[0078] The installation of guide blocks and guide surfaces is not limited here, and can take the following forms:

[0079] First, the guide block is mounted on the side of the lifting mechanism, and the guide surface is correspondingly mounted on the side wall of the receiving groove. The guide block is preferably a rolling element, such as a bearing or a roller.

[0080] Second, the guide block is installed on the side of the receiving groove, and the guide surface is correspondingly installed on the side wall of the lifting mechanism.

[0081] Third, the combination of the first and second situations mentioned above can increase structural stability and prevent the failure of one set of guiding components.

[0082] The horizontal plane is mainly used to support the guide block, while the inclined plane is mainly used to guide the guide block to ensure that it enters the horizontal plane.

[0083] like Figure 1 , Figure 4 As shown, the guide component here uses a combination of two methods; specifically...

[0084] A first guide block 15 (here a bearing) is provided in the receiving groove, and a first guide surface 17 is provided on the side wall of the receiving groove;

[0085] A second guide block 22 (shown as a fixed block in the attached drawing, but can be replaced by a rolling element such as a bearing) is provided on the lifting mechanism, and a second guide surface 21 is provided on the side of the lifting mechanism. Here, the first guide block 15 cooperates with the second guide surface 21, while the second guide block 22 cooperates with the first guide surface 17.

[0086] The procedure for retracting the lifting mechanism is as follows:

[0087] When the lifting mechanism retracts the vehicle frame, the first guide block 15 engages with the second guide surface 21, while the second guide block 22 engages with the first guide surface 17 to restrict and position the movement of the lifting mechanism. Figure 5 As shown, at this time, the lowering detection photoelectric device 8 in the lifting mechanism is triggered, and the lifting mechanism fork arm is in the lowering state.

[0088] The rocker arm shaft 6 rotates clockwise, causing the rocker arm shaft to rotate downwards, and the lifting block 13 (bearing) comes into contact with the lifting groove 20;

[0089] like Figure 6 As shown, when the rocker arm shaft 6 continues to rotate clockwise, the lifting block 13 will exert a backward horizontal pulling force on the lifting groove 20. Since the first guide block 15 is in contact with the second guide surface 21 and the second guide block 22 is in contact with the first guide surface 17 at this time, the lifting mechanism will lift off the ground as a whole under the action of this horizontal pulling force, thereby achieving the purpose of retracting the lifting assembly. The retracted state of the fork arm is as follows... Figure 7 As shown.

[0090] The lowering motion of the lifting assembly is the reverse of the retraction motion. Because the motor in the lifting mechanism mentioned earlier is self-locking, the position of the swing arm 5 is fixed after the lifting mechanism is retracted, which can prevent the fork arm from sliding out of the vehicle body.

[0091] In some embodiments, a guide bar 16 is provided in the receiving groove, the guide bar 16 is installed along the length direction of the lifting mechanism, and the guide bar limits the two side walls of the lifting mechanism.

[0092] The length and position of the guide strip 16 are not limited here, and can be selected according to actual needs. The guide strip can be a single piece or multiple intermittent pieces.

[0093] The guide bar contacts (or is tangential to) the side wall of the lifting mechanism, or leaves a gap, to ensure that the lifting mechanism moves in a straight line within the receiving groove, reducing friction on both sides; ball bearings can be embedded in the guide bar to reduce friction between the guide bar and the lifting mechanism.

[0094] The symmetrical guide strips form an "eight"-shaped opening in front, which facilitates the entry, exit, and guidance of the lifting mechanism.

[0095] In this invention, a simple lifting mechanism allows the transport body and the lifting mechanism to operate independently, enabling multiple lifting mechanisms to share a single lifting mechanism. This eliminates the need for limiting and locking structures between each lifting mechanism and the transport body, resulting in a more streamlined overall structure. Since the lifting mechanism is no longer supported by the transport body when it needs to leave, its ground adaptability is more stable, reducing friction between the lifting mechanism and the transport body and extending their service life. Furthermore, due to the independence of the lifting mechanism and the transport body, the chassis of the transport body can be height-adjusted as needed to better adapt to different terrain conditions.

[0096] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cargo handling system, comprising a handling body and a lifting mechanism; the handling body is provided with a first drive mechanism; The lifting mechanism is equipped with a second drive mechanism; The first drive mechanism and the second drive mechanism are independent of each other, so that the transport body and the lifting mechanism can operate independently yet in coordination. The transport body is provided with a receiving groove for the lifting mechanism to enter and exit the transport body; the receiving groove has no bottom and no cover; Its features are, A lifting mechanism is provided between the transport body and the lifting mechanism; The lifting mechanism includes a lifting motor, a transmission assembly, a lifting arm, a lifting block, and a lifting groove; The lifting motor is mounted on the transport body, the lifting arm is connected to the lifting motor via the transmission assembly, and the lifting block is mounted at the end of the lifting arm. The lifting groove is located at the rear end of the lifting mechanism; The lifting motor rotates in both forward and reverse directions to drive the lifting arm to rotate, causing the lifting block to rise and fall into or leave the lifting slot, so that the lifting mechanism and the transport body can be combined or separated. When the lifting mechanism and the transport body are combined, at least one end of the lifting mechanism is off the ground. The cargo handling system also includes a guiding component, which is disposed between the handling body and the lifting mechanism; The guiding component includes a guiding surface and a guiding block. The guiding surface includes a horizontal surface and an inclined surface that are in contact. The guiding block, together with the lifting mechanism and the transport body, passes through the inclined surface and engages with the horizontal surface, so that the front and rear ends of the lifting mechanism are completely off the ground.

2. The cargo handling system according to claim 1, characterized in that, The lifting block is a rolling element, which is mounted on the lifting arm via a rotating shaft.

3. The cargo handling system according to claim 1, characterized in that, The lifting arm is "L" shaped, such that the rotation center of the lifting block at the end of the lifting arm is not on the same horizontal line as the rotation center of the lifting arm.

4. The cargo handling system according to claim 1, characterized in that, The lifting groove is a square groove with an opening at the top or bottom.

5. The cargo handling system according to claim 1, characterized in that, The lifting mechanism also includes a photoelectric switch, which is disposed on the lifting or rotation path of the lifting arm.

6. The cargo handling system according to claim 5, characterized in that, The guide block is installed on the side of the lifting mechanism, and the guide surface is correspondingly installed on the side wall of the receiving groove. The guide block is a bearing or a roller.

7. The cargo handling system according to claim 1, characterized in that, The first driving mechanism includes a first driving motor and a first roller, and the first driving motor and the first roller are connected in a transmission manner.

8. The cargo handling system according to claim 1, characterized in that, The second drive mechanism includes a drive wheel assembly and a driven wheel assembly. The drive wheel assembly includes a drive wheel motor and a drive wheel. The drive wheel assembly and the driven wheel assembly are respectively located at the front and rear ends of the lifting mechanism.

9. The cargo handling system according to claim 1, characterized in that, The receiving groove is provided with guide bars, which are installed along the length of the lifting mechanism and limit the movement of the two side walls of the lifting mechanism.

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