Cargo posture adjustment loading and unloading mechanism and method

Abstract

The application discloses a loading and unloading mechanism and method for cargo posture adjustment, wherein a main frame has a middle conveying area for cargo passing, the main frame is installed on a conveying trolley or conveying line through a longitudinal moving track, and a longitudinal moving drive for driving the main frame to move along the longitudinal moving track is arranged; a cross beam is installed above the main frame, the cross beam is installed with a transverse moving track; a vertical beam is installed in front of the cross beam through the transverse moving track, the vertical beam is installed with a vertical track, and a transverse drive drives the vertical beam to move along the transverse moving track; a lifting beam is installed on the vertical beam through the vertical track, and a vertical drive drives the lifting beam to move along the vertical track; a rotating frame is installed on the lifting beam through a rotating drive, the rotating drive realizes ±90° rotating motion of the rotating frame in a horizontal plane; a suction cup frame is installed with a suction cup for grabbing cargo, the suction cup frame is installed on the rotating frame through a hinge shaft, and a turnover drive for realizing 0°-90° turnover motion of the suction cup frame in a vertical plane is arranged.

Description

Technical Field

[0001] This invention relates to the field of cargo transfer technology, and in particular to a cargo posture adjustment loading and unloading mechanism and method. Background Technology

[0002] Currently, in some bulk commodity manufacturing enterprises, the operating scenarios are relatively standardized and the specifications of goods are relatively uniform. At the same time, the unpacking, stacking, sorting and conveying operations in their warehouses have been basically automated, but the loading and unloading operations still rely mainly on manual labor. The key difficulty in replacing manual labor with mechanical equipment lies in the fact that traditional loading and unloading equipment, within a limited space, needs to meet the premises of loading volume ratio and loading and unloading efficiency, and also needs to be able to adjust the posture of goods. The required mechanical structure and spatial layout are very difficult.

[0003] With the rapid development of the modern smart logistics industry, in order to improve the overall automation level of logistics operations, increase logistics efficiency, and reduce labor costs, it is particularly important to realize mechanical automation of manual loading and unloading operations and provide reliable loading and unloading methods and loading and unloading mechanism solutions. Summary of the Invention

[0004] This application provides a loading and unloading mechanism and method for adjusting the posture of goods, which solves the technical problems of stringent requirements for loading volume ratio, loading efficiency and spatial layout when intelligent loading and unloading operations are carried out in a fixed and limited space.

[0005] This application provides a loading and unloading mechanism for adjusting the posture of goods, including a main frame, a crossbeam, a vertical beam, a lifting beam, a rotating frame, and a suction cup frame. The main frame has a centrally located conveying area for goods to pass through. The main frame is installed on a conveying trolley or conveyor line via a longitudinal track and is equipped with a longitudinal drive to move the main frame along the longitudinal track. The crossbeam is installed above the main frame and is equipped with a transverse track. The vertical beam is installed in front of the crossbeam via a transverse track and is equipped with a vertical track and is equipped with a transverse drive to move the vertical beam along the transverse track. The lifting beam is installed on the vertical beam via a vertical track and is equipped with a vertical drive to move the lifting beam along the vertical track. The rotating frame is installed on the lifting beam via a rotation drive, which is used to realize ±90° rotation of the rotating frame in the horizontal plane. The suction cup frame is equipped with suction cups for gripping goods and is installed in front of the rotating frame via a hinge. It is equipped with a flip drive to realize 0°-90° flipping of the suction cup frame in the vertical plane.

[0006] The beneficial effects of this application are as follows: It provides a loading and unloading mechanism for adjusting the posture of goods. While utilizing standard X, Y, and Z linear motion, it cleverly integrates a rotational motion and a flipping motion. Longitudinal movement is achieved through a longitudinal track and a longitudinal drive in conjunction with a longitudinal drive; lateral movement is achieved through a transverse track and a transverse drive in conjunction with a transverse drive; vertical movement is achieved through a vertical track and a vertical drive; rotation is achieved in the horizontal plane through a rotational drive; and flipping is achieved in the vertical plane through a flipping drive. All motion processes in this loading and unloading mechanism adopt the principle of a linear mechanism, resulting in high structural reliability, clear logic for the coordination of each action, and strong stability of the electrical control system. In application, the rotating frame rotates 90° to the left and right in the horizontal plane. During stacking, each layer of goods on each wall can be stacked in a left-right half-row stacking manner, corresponding to the conveyor... The vehicles or conveyor lines have been grouped into half-row configurations, improving operational continuity and overall loading and unloading efficiency. When in use, this loading and unloading mechanism, through a flip-drive and hinge installation, allows the suction cup frame to be adjusted between horizontal and vertical positions. When stacking the bottom layer of goods on each wall, the suction cup frame is horizontal; when stacking the top layer of goods on each wall, the suction cup frame is vertical. This accommodates the stacking of goods of different sizes in different positions, overcoming the problem of excessive vertical travel during loading and unloading from the lowest to the highest layer, which makes the mechanism difficult to arrange and interferes with limited space. This ensures both loading capacity and loading and unloading efficiency. A central conveying area is set up in the main frame, employing a central conveyor and separate left and right half-row loading and unloading arrangement. This overcomes the problem of excessive horizontal travel during loading and unloading from the leftmost to the rightmost goods, which makes the mechanism difficult to arrange and interferes with limited space. This also ensures both loading capacity and loading and unloading efficiency. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0008] Figure 1 A schematic diagram of a loading and unloading mechanism for adjusting the posture of goods provided in this application;

[0009] Figure 2 This is a schematic diagram of the first working step of picking up goods at the lower level based on this loading and unloading mechanism;

[0010] Figure 3 This is a schematic diagram of the first working stage of the lower-level stacking of goods based on this loading and unloading mechanism;

[0011] Figure 4 This is a schematic diagram of the second working stage of picking up goods at the lower level based on this loading and unloading mechanism;

[0012] Figure 5 This is a schematic diagram of the second working stage of the lower-level stacking of goods based on this loading and unloading mechanism;

[0013] Figure 6 This is a schematic diagram of the first working step of picking up goods at the upper level based on this loading and unloading mechanism;

[0014] Figure 7 This is a schematic diagram of the first working stage of upper-level cargo stacking based on this loading and unloading mechanism;

[0015] Figure 8 This is a schematic diagram of the second working stage of picking up goods at the upper level based on this loading and unloading mechanism;

[0016] Figure 9 This is a schematic diagram of the second working stage of the upper-level stacking of goods based on this loading and unloading mechanism.

[0017] Attached diagram labels: 100-Main frame, 110-Longitudinal track, 120-Longitudinal drive, 200-Crossbeam, 210-Transverse track, 220-Transverse drive, 300-Vertical beam, 310-Vertical track, 320-Vertical drive, 400-Lifting beam, 500-Rotating frame, 510-Rotating drive, 600-Suction cup frame, 610-Suction cup, 620-Hinge, 630-Tilting drive, 20-Conveying trolley. Detailed Implementation

[0018] In some large-scale commodity manufacturing enterprises, the operating scenarios are relatively standardized, the specifications of the goods are relatively uniform, and loading and unloading operations are mainly carried out manually. If mechanical equipment is used to replace manual labor, the difficulty lies in the fact that traditional loading and unloading equipment, within a limited space, needs to meet the requirements of loading volume ratio and loading and unloading efficiency, and also needs to be able to adjust the posture of the goods. The required mechanical structure and spatial layout are very difficult.

[0019] This application provides a loading and unloading mechanism for adjusting the posture of goods. It is an intelligent loading and unloading method that can provide a reliable solution when there is a difference between the conveying posture and the stacking posture of goods. It is suitable for intelligent loading and unloading operations of goods in transport vehicles (such as containers, box trucks, etc.), and realizes the neat stacking of goods in a fixed and limited space, while meeting the loading volume ratio and loading efficiency required by the application scenario. At the same time, it can also realize the unloading operation of stacked items in the transport vehicle, providing a reliable solution for the bottleneck link of the "last 20 meters" of the intelligent logistics system.

[0020] Please refer to Figure 1 A loading and unloading mechanism for adjusting the posture of cargo is disclosed, including a main frame 100, a crossbeam 200, a vertical beam 300, a lifting beam 400, a rotating frame 500, and a suction cup frame 600.

[0021] like Figure 1As shown, the main frame 100 has a central conveying area for goods to pass through. Goods on the conveyor trolley 20 or conveyor line pass through the central conveying area of ​​the main frame 100, and the goods are organized at the front end of the main frame 100. The main frame 100 is mounted to the conveyor trolley 20 or conveyor line via a longitudinal transfer track 110, and the loading and unloading mechanism is equipped with a longitudinal transfer drive 120, which drives the main frame 100 to move along the longitudinal transfer track 110. In this way, longitudinal movement in the conveyor trolley 20 or conveyor line is realized.

[0022] like Figure 1 As shown, the crossbeam 200 is installed above the main frame 100 and is fixedly connected to the main frame 100. The crossbeam 200 is equipped with a transverse track 210. Both the crossbeam 200 and the transverse track 210 are arranged transversely along the conveying trolley 20 and the conveying line.

[0023] like Figure 1 As shown, the vertical beam 300 is installed in front of the crossbeam 200 via the transverse track 210. Both the vertical beam 300 and the vertical track 310 are arranged vertically. The loading and unloading mechanism is equipped with a transverse drive 220, which drives the vertical beam 300 to move along the transverse track 210. This enables movement of the vertical beam 300 in the transverse direction of the conveyor trolley 20 or the conveyor line.

[0024] like Figure 1 As shown, the lifting beam 400 is mounted on the vertical beam 300 via the vertical rail 310, and the loading and unloading mechanism is driven vertically by the vertical drive 320, which drives the lifting beam 400 to move along the vertical rail 310. This achieves vertical movement.

[0025] like Figure 1 As shown, the rotating frame 500 is mounted on the lifting beam 400 via a rotating drive 510. The rotating drive 510 is used to achieve ±90° rotation of the rotating frame 500 on the horizontal plane. For details, please refer to the comparison. Figure 1 , Figure 2 and Figure 4 , Figure 1 The posture of the rotating frame 500 when it is rotated 0° on a horizontal plane is shown. Figure 2 and Figure 4 The postures of the rotating frame 500 when it is rotated 90° and -90° on the horizontal plane are shown respectively, so as to realize half-row stacking and half-row shaping grouping.

[0026] like Figure 1As shown, the suction cup frame 600 is equipped with suction cups 610, which are used to grip goods. There are many suction cups 610, which are generally arranged in a specific pattern on the suction cup frame 600. When the suction cups 610 grip goods, they are positioned below the suction cup frame 600, as shown below. Figure 3 , Figure 5 As shown in the diagram. The suction cup frame 600 is mounted in front of the rotating frame 500 via a hinge pin 620, and the loading / unloading mechanism is equipped with a flip drive 630, which is used to achieve a 0°-90° flipping motion of the suction cup frame 600 in the vertical plane. Please refer to... Figure 1 , Figure 2 and Figure 6 , Figure 1 and Figure 2 The posture of the suction cup frame 600 when it is at 0° on the vertical plane is shown. This corresponds to the suction cup frame 600 being in a horizontal state, at which point the suction cup 610 is attached to the top side of the goods. Figure 6 The image shows the suction cup frame 600 in a 90° position on the vertical plane, which corresponds to the suction cup frame 600 being in a vertical state, at which point the suction cup 610 is attached to the vertical side of the goods.

[0027] To fully illustrate this loading and unloading mechanism, a loading and unloading method for adjusting the posture of goods is disclosed herein. In this method, the conveying trolley 20 or the front end of the conveyor line has a shaping and grouping function. While the loading and unloading mechanism is adjusting its operation, half of the goods are shaped and grouped to control the suction cup frame 600 of the loading and unloading mechanism to grasp the half of the goods.

[0028] Please refer to Figures 2 to 9 This loading and unloading method includes: sequentially stacking goods on each wall; during the stacking of goods on one wall, the lower layer of goods is stacked first, then the upper layer of goods is stacked, and so on, stacking each layer of goods in an upward order; during the stacking of each layer of goods, the loading and unloading mechanism picks up half a row of goods and releases the half row of goods to the stacking position in a coordinated action, and then the loading and unloading mechanism picks up the other half row of goods and releases the other half row of goods to another stacking position on the same layer in a coordinated action.

[0029] The loading and unloading mechanism can be installed on the conveyor trolley 20 or the conveyor line. The following description will be based on the conveyor trolley 20.

[0030] Please refer to Figure 2 The first working step of the lower-level picking process: The conveyor trolley 20 moves forward and stops at the theoretical distance from the packed goods to begin operation. The flip drive 630 lowers the suction cup frame 600, and the rotation drive 510 rotates the rotating frame 500. The vertical drive 320, the horizontal drive, and the longitudinal drive simultaneously adjust the suction cup 610 to reach directly above the goods and lower it to pick up half of the goods. Interference is avoided through program-controlled coordinated actions.

[0031] Please refer to Figure 3 In the first stage of the lower-level stacking process, the goods are slightly lifted, and the mechanism, along with the goods, quickly moves longitudinally forward, makes minor lateral adjustments, descends, and rotates 90° to the left, so that the goods are released when they reach the stacking position. All these actions are performed simultaneously. Interference is avoided by controlling the coordinated actions through a program.

[0032] Please refer to Figure 4 The second working step of the lower-level cargo retrieval process: After releasing the cargo, the mechanism slightly rises and detaches from the cargo, then quickly moves horizontally to the right, rises, moves vertically backward, and continues to rotate 90° to the left, so that the suction cup 610 reaches directly above the shaped and grouped cargo (at this time, the mechanism is located on the other side of the cargo), and descends to pick up half a row of cargo. Interference is avoided through program-controlled coordinated actions.

[0033] Please refer to Figure 5 The second working step of the lower-level stacking process involves slightly lifting the goods, causing the mechanism to rapidly advance longitudinally, make minor lateral adjustments, descend, and rotate 90° to the right, releasing the goods once they reach their designated stacking position. All these actions occur simultaneously. Interference is avoided through programmed control of these coordinated movements.

[0034] Based on the total stacking height, the bottom half of the goods are designated as the lower layer, and the top half as the upper layer. Once the goods on the same layer are stacked, continue stacking goods on the same side, repeating the process of retrieving and stacking goods on the lower layer, until all lower layer goods are stacked.

[0035] Please refer to Figure 6 The first step in the upper-level picking process: After loading the lower-level goods, the flip drive 630 folds the suction cup frame 600. The mechanism then quickly performs horizontal fine-tuning, vertical adjustment, longitudinal retraction, and a 90° right rotation, bringing the suction cup 610 to the left side of the shaped and grouped goods, and horizontally picking up half a row of goods. Interference is avoided through program-controlled coordinated actions.

[0036] Please refer to Figure 7 The first working step of the upper-level stacking process involves slightly lifting the goods, causing the mechanism to rapidly rotate the goods 90 degrees to the left, move them forward longitudinally, make minor lateral adjustments, and adjust them vertically, releasing the goods when they reach their stacking position. All these actions are performed simultaneously. Interference is avoided through programmed control of coordinated movements.

[0037] Please refer to Figure 8 The second working step of the upper-level cargo retrieval process: After releasing the cargo, the mechanism slightly retracts to detach from the cargo, then quickly moves laterally to the right, adjusts vertically, moves backward longitudinally, and continues to rotate 90° to the left, so that the suction cup 610 reaches the right side of the shaped and grouped cargo, and then moves laterally to pick up half a row of cargo. Interference is avoided through program-controlled coordinated actions.

[0038] Please refer to Figure 9The second working step of the upper-level stacking process involves slightly lifting the goods, causing the mechanism to rapidly rotate 90 degrees to the right, move forward longitudinally, make minor lateral adjustments, and adjust vertically, releasing the goods at their designated stacking position. All these actions are performed simultaneously. Interference is avoided through programmed control of coordinated movements.

[0039] Once one layer of goods is stacked, continue stacking goods on the same side, repeating the actions of retrieving and stacking goods on the upper layer until all goods on the upper layer are stacked.

[0040] After the goods are stacked on one wall, each unit returns to the lower level to retrieve goods, and the conveyor trolley 20 moves back one goods depth (longitudinal) to continue working on the next wall.

[0041] In summary, the cargo posture adjustment loading and unloading mechanism provided in this application improves operational continuity and overall loading and unloading efficiency by using a half-row shaping and grouping method and a half-row stacking method.

[0042] The cargo posture adjustment loading and unloading mechanism provided in this application uses a flipping suction cup 610 to pick up cargo from different positions. Specifically, it picks up the upper surface of lower-layer cargo and the side surface of upper-layer cargo, thereby reducing the travel of the vertical running track. This makes it feasible to arrange the vertical single-layer track to meet the requirements, greatly improving the matching degree between the system solution and the application scenario. By setting the flipping action, it can accommodate the stacking of cargo of different sizes in different positions, overcoming the problem of excessive vertical travel when loading and unloading cargo from the lowest to the highest layer, which makes it difficult to arrange the mechanism and interferes with limited space. This achieves the requirements of ensuring loading volume ratio and loading and unloading efficiency.

[0043] The cargo posture adjustment loading and unloading mechanism provided in this application adopts a centrally located conveyor and a separate pick-up and delivery arrangement for the left and right halves of the cargo. This overcomes the problem that the excessive horizontal travel when loading and unloading cargo from the leftmost to the rightmost side makes it difficult to arrange the mechanism and interferes with the limited space. This makes the entire operation process compact and avoids unnecessary idle travel that would waste time, thereby achieving the requirements of ensuring loading volume ratio and loading and unloading efficiency.

[0044] The loading and unloading mechanism for adjusting the posture of goods provided in this application solves the problem of adjusting the posture of goods transportation and stacking by picking up the goods from the vertical side of the stacked goods and rotating them by 90°. It also realizes the lateral position adjustment, thereby making the lateral track as short as possible and the arrangement of a single-layer lateral track feasible, thus improving the reliability and stability of the overall mechanical structure.

[0045] The loading and unloading mechanism for adjusting the posture of goods provided in this application adopts the principle of linear mechanism in all motion processes, with strong structural reliability, clear logic for the coordination of each action, and strong stability of the electronic control system.

[0046] The cargo posture adjustment loading and unloading mechanism provided in this application cleverly integrates a rotational motion and a flipping motion into the standard X, Y, Z linear motion, reducing the X, Y, Z stroke, simplifying the single motion structure, and reducing weight. Consequently, the volume and driving power of each parent layer are reduced, making the entire mechanism smaller and achieving higher speeds for each motion. Ultimately, it satisfies the requirement of completing cargo posture adjustment loading and unloading actions in a limited space, achieving higher loading and unloading efficiency and meeting the development requirements of customers.

[0047] Please refer to Figure 4 and Figure 5 This demonstrates that in a half-row stacking method, each layer contains 10 (even) items, and half a row contains 5. When a layer contains an odd number of items, such as 9, the design width of the suction cup frame 600 is still the width of 5 items. First, 5 items are loaded and unloaded, and then 4 items are loaded and unloaded. When loading and unloading 4 items, you only need to leave 1 item space at the front of the suction cup 610 when it picks up the item.

[0048] In some implementation methods, please refer to Figure 1 The lifting beam 400 is L-shaped, which on the one hand ensures that the lifting beam 400 and the vertical rail 310 form a large contact area, which is conducive to connection stability. On the other hand, it allows the rotating frame 500 and the vertical beam 300 to be separated by a large distance, so that the rotating frame 500 and the tilting drive 630 can be arranged smoothly in space.

[0049] In some implementation methods, please refer to Figure 1 The crossbeam 200 is arranged in a single layer, and the vertical beam 300 is also arranged in a single layer; the transverse drive 220 is arranged behind the vertical beam 300, while the vertical drive 320 is arranged as follows: Figure 1 The arrangement shown is located above and behind the lifting beam 400.

[0050] In some implementation methods, please refer to Figure 1 The rotary drive 510 is located below the rotary frame 500 and above the lifting beam 400; the flip drive 630 is mounted on the rotary frame 500 and is connected to the suction cup frame 600.

[0051] The longitudinal transfer track 110, in conjunction with the longitudinal transfer drive 120, enables the linear motion of the main frame 100. In some embodiments, considering factors such as large stroke and stability, the longitudinal transfer drive 120 is used in conjunction with a gear and rack mechanism to enable the main frame 100 to move on the longitudinal transfer track 110.

[0052] The transverse track 210, in conjunction with the transverse drive 220, enables the linear motion of the vertical beam 300. In some embodiments, considering factors such as large stroke and stability, the transverse drive 220 is used in conjunction with a gear and rack mechanism to enable the vertical beam 300 to move on the transverse track 210.

[0053] The vertical track 310, in conjunction with the vertical drive 320, enables the linear movement of the lifting beam 400. In some embodiments, the vertical drive 320, in conjunction with a lead screw and nut, enables the lifting beam 400 to move on the vertical track 310.

[0054] In some implementation methods, please refer to Figure 1 The flipping drive 630 uses an electric cylinder, the cylinder body of which is mounted on the rotating frame 500, and the cylinder rod of the electric cylinder is rotatably connected to the suction cup frame 600. When the cylinder rod extends or retracts, it causes the suction cup frame 600 to flip.

[0055] The crossbeam 200 is fixedly connected to the main frame 100, which can be done by bolt connection.

[0056] For the loading and unloading mechanisms and related moving mechanisms disclosed above, it is not recommended to use standard robotic arms as substitutes. This is because a semi-row loading and unloading method is adopted, and due to load requirements, the robotic arm would be too large to operate flexibly within the limited space of the transport vehicle; if a robotic arm is used to load and unload individual goods, it cannot meet the customer's requirements for loading and unloading efficiency.

[0057] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0058] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A loading and unloading mechanism for adjusting the posture of goods, characterized in that, include: The main frame has a central conveying area for the passage of goods. The main frame is mounted to a conveying trolley or conveyor line via a longitudinal transfer track and is provided with a longitudinal transfer drive that drives the main frame to move along the longitudinal transfer track. A crossbeam is installed above the main frame, and the crossbeam is equipped with a transverse track; A vertical beam is installed in front of the horizontal beam via the transverse track. The vertical beam is equipped with the vertical track and is provided with a transverse drive that drives the vertical beam to move along the transverse track. A lifting beam is mounted on the vertical beam via the vertical rail and is provided with a vertical drive to drive the lifting beam to move along the vertical rail; A rotating frame, mounted on the lifting beam via a rotation drive, rotates the frame ±90° on the horizontal plane. This allows the frame to have three states: a cargo release state at 0° on the horizontal plane, a first cargo-collecting state at -90°, and a second cargo-collecting state at +90°. At 0°, the rotating frame is perpendicular to the longitudinal track. The loading and unloading mechanism has two distinct operating modes: from the first cargo-collecting state to the cargo release state at the stacking position, and from the second cargo-collecting state to the cargo release state at the stacking position. This allows for separate loading and unloading of the left and right halves of the frame. A suction cup frame is equipped with suction cups for gripping goods. The suction cup frame is mounted in front of the rotating frame via a hinge. A flip drive is provided to enable the suction cup frame to flip between 0° and 90° on the vertical plane, so that the suction cup frame has a lower goods suction state at 0° on the vertical plane and an upper goods suction state at 90° on the vertical plane. When the suction cup frame is at 0° on the vertical plane, it is in a horizontal state.

2. The loading and unloading mechanism as described in claim 1, characterized in that, The crossbeams are arranged in a single layer, and the vertical beams are arranged in a single layer; The lateral drive is arranged on the rear side of the vertical beam, and the vertical drive is arranged on the upper rear side of the lifting beam.

3. The loading and unloading mechanism as described in claim 1, characterized in that, The rotary drive is located below the rotary frame and above the lifting beam; The flip drive is mounted on the rotating frame and is connected to the suction cup frame.

4. The loading and unloading mechanism as described in claim 1, characterized in that, The longitudinal drive, in conjunction with a rack and pinion mechanism, enables the main frame to move on the longitudinal track.

5. The loading and unloading mechanism as described in claim 1, characterized in that, The lateral drive, in conjunction with a rack and pinion mechanism, enables the vertical beam to move on the lateral track.

6. The loading and unloading mechanism as described in claim 1, characterized in that, The vertical drive, in conjunction with a lead screw and nut, enables the lifting beam to move on the vertical track.

7. The loading and unloading mechanism as described in claim 3, characterized in that, The flipping drive uses an electric cylinder, the cylinder body of which is mounted on the rotating frame, and the cylinder rod of which is rotatably connected to the suction cup frame.

8. The loading and unloading mechanism as described in claim 1, characterized in that, The crossbeam is connected to the main frame by bolts.

9. A loading and unloading method for adjusting the posture of goods, characterized in that, The loading and unloading mechanism as described in any one of claims 1-8 is installed on a conveying trolley or conveyor line. The loading and unloading method includes: the front end of the conveying trolley or conveyor line has a shaping and grouping function, and half of the goods are shaped and grouped while the loading and unloading mechanism is being adjusted, so as to control the suction cup frame of the loading and unloading mechanism to grasp the half of the goods.

10. The loading and unloading method as described in claim 9, characterized in that, The loading and unloading methods include: The process of stacking goods on each wall is carried out sequentially. In the process of stacking goods on one wall, the lower layer of goods is stacked first, and then the upper layer of goods is stacked, and each layer of goods is stacked in the order of upwards. During the stacking process of each layer of goods, the loading and unloading mechanism picks up half a row of goods and releases the half row of goods to the stacking position in a coordinated action. Then the loading and unloading mechanism picks up the other half row of goods and releases the other half row of goods to another stacking position on the same layer in a coordinated action.

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