An adjustable-height unloading device and unloading control system and its control method

Abstract

This invention relates to the field of logistics unloading technology, and more particularly to an adjustable-height unloading device and unloading control system and method. It includes a horizontally positioned base plate and symmetrically arranged casters on both sides of the base plate's bottom. The device is characterized by: a material unloading device fixedly mounted on one side of the base plate; and two sets of brackets perpendicular to the base plate fixedly mounted on the other side of the base plate away from the material unloading device. One set of brackets is fixed at two corners of the base plate, and the other set is fixed to the base plate and adjacent to the material unloading device. The two sets of brackets are respectively correspondingly arranged, and a bearing plate is fixedly mounted at the top of each set of brackets. A material-picking device is movably mounted on the bearing plate. A detection device for detecting the truck's height is also mounted on the brackets. The base plate is equipped with a sensor, a receiver for a positioning device, and an obstacle avoidance module.

Description

Technical Field

[0001] This invention relates to the field of logistics unloading technology, and in particular to an adjustable-height unloading device and unloading control system and control method thereof. Background Technology

[0002] Traditionally, unloading in logistics warehousing involves people on the truck passing goods down, which is not only inefficient but also prone to accidents and safety risks. Existing unloading devices slide goods down ramps to the ground, but this is inefficient and, due to difficulty in controlling speed, can lead to accumulation and collisions, posing significant safety risks. In areas inaccessible to trucks, manual labor is required to carry the goods back and forth.

[0003] Therefore, in view of the defects of the above-mentioned technologies, the present invention proposes an adjustable height unloading device and unloading control system and control method. According to the height of the truck, the height of the unloading device is adjusted by a hydraulic cylinder drive device. The unloading control system and control method achieve the function of automatic unloading, reduce the workload of workers, and achieve the beneficial effects of more convenient operation, reducing labor costs, and ensuring that the goods are not easily damaged by collision. Summary of the Invention

[0004] The purpose of this invention is to solve the problems existing in the prior art by proposing an adjustable height unloading device and unloading control system and control method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The device includes a horizontally arranged base plate and symmetrical casters on both sides of the bottom of the base plate. Its features include: a material unloading device fixedly installed on one side of the base plate surface; and two sets of brackets perpendicular to the base plate fixedly installed on the other side of the base plate surface away from the material unloading device. One set of brackets is fixed at two corners of the base plate surface, and the other set of brackets is fixedly installed on the base plate surface and adjacent to the material unloading device. The two sets of brackets are respectively arranged correspondingly, and a bearing plate is fixedly installed at the top of each set of brackets. A material picking device is movably installed on the bearing plate surface.

[0007] The second support is also equipped with a detection device for detecting the height of the truck, and the detection device and the controller are electrically connected.

[0008] The base plate is equipped with a sensor, a receiver for the positioning device, and an obstacle avoidance module.

[0009] The unloading and unloading devices work together to complete the cargo handling. The support frame is also equipped with a detection device to monitor the height of the freight car, thus determining the lifting height of the support plate. Sensors on the base plate are used to monitor the cargo throughout the unloading system.

[0010] Furthermore, the unloading device includes a guide rail 1 fixedly mounted on both sides of the bottom plate and parallel to each other, an unloading slide plate and an unloading plate. The guide rail 1 is parallel to the bottom plate, the unloading slide plate slides in contact with the guide rail 1, and a bracket 1 is provided at each of the four corners of the unloading slide plate. The upper end of the bracket 1 is provided with an unloading plate that is parallel to and corresponds to the unloading slide plate. The unloading plate is provided with a sensor for sensing the cargo and its weight.

[0011] Furthermore, a drive device is provided at one end of the unloading slide plate to drive the unloading slide plate to slide along a guide rail. The drive device is fixedly installed on the bottom plate and away from the unloading slide plate. The movable end of the drive device is connected to one end of the unloading slide plate. The drive device is hydraulically driven and electrically connected to the controller.

[0012] Furthermore, the material handling device includes a movable plate parallel to the support plate, two guide rails fixed to both sides of the movable plate, and a material handling plate. The material handling plate is slidably disposed on the two guide rails. A limit block is provided at the end of the two guide rails near the unloading plate. The movable plate extends outward from the end away from the support plate, and the extension length is longer than that of the support plate, for extending into the interior of the truck. The material handling plate is provided with a sensing device for sensing the cargo and its weight.

[0013] Furthermore, a second driving device is provided between the guide rails to drive the material picking plate to move horizontally left and right. The second driving device is horizontally fixed on the surface of the movable plate. The movable end of the second driving device is connected to one end of the material picking plate. The second driving device is driven by a hydraulic cylinder and is electrically connected to the controller.

[0014] Furthermore, a driving device three is provided longitudinally between the movable plate and the base plate to drive the movable plate to move up and down. The lower end of the driving device three is fixed to the base plate, and the movable end passes through the support plate and connects to the lower surface of the movable plate. The driving device three is hydraulically driven and electrically connected to the controller. A reinforcing plate is also provided on the lower surface of the movable plate.

[0015] An unloading control system includes an adjustable-height unloading device as described above, and further includes a robot located next to the unloading device and an unloading control system for controlling the robot and the unloading device. The unloading control system includes an industrial computer control system and a mobile terminal control system. The industrial computer control system includes a PLC control system, which includes a sensing system, a positioning system, and a hydraulic system. Robot A is located next to the material handling device, and robot B is located next to the unloading device. Robot A and robot B are electrically connected to the PLC controller.

[0016] Furthermore, both Robot A and Robot B are equipped with sensing devices for sensing goods. Robot A and Robot B are also equipped with receivers for positioning devices and obstacle avoidance modules.

[0017] A control method for an unloading control system, comprising the unloading control system described in any one of the above-mentioned methods, the method comprising the following steps:

[0018] S1. The operator first sets up the unloading device and the robot's positioning system and the robot's motion instruction program on the industrial control computer control system according to the work requirements. The motion instruction program includes the motion instructions for grabbing or releasing goods.

[0019] S2. When a truck arrives with goods, and the unloading point is nearby, the positioning system is activated and a command is sent. The receivers in the robot and the unloading device receive the signal, and the PLC controller controls robot A, robot B and the unloading device to navigate and move to the side of the truck according to the positioning device and obstacle avoidance module.

[0020] S3. Based on the height of the truck, the detection device detects the height of the cargo loaded on the truck. The detection device feeds back the truck height data to the controller. The controller controls the drive device 314 to lift the movable plate. The movable plate drives the material picking plate to rise to a height that is parallel to and lower than the height of the cargo on the truck.

[0021] S4. After the staff moves the goods onto the picking plate, the sensor on the picking plate is set to the maximum weight that the picking plate can bear. When it approaches the maximum weight, the controller will sound an alarm. Or when the weight of the goods is not very heavy, the picking plate can sense that there is no action of putting the goods down for a short time and send a command to the controller. The controller controls the drive device two to drive the picking plate to move along the guide rail two and stop when it reaches the limit.

[0022] S5. The detection device detects the height of the material taking plate from the unloading plate and feeds it back to the controller. The controller controls the three movable ends of the drive device to descend, driving the movable plate to descend until it is level with the upper surface of the unloading plate.

[0023] S6. Robot A starts to move when it senses that there is a cargo on the picking plate. It picks up the cargo from the picking plate and puts it on the unloading plate. After the sensing device senses that there is a cargo on the unloading plate, it sends a command to the controller. After receiving the command, the controller controls the unloading slide to slide along the guide rail under the drive of the drive device.

[0024] S7. After the picking plate senses that there are no goods, it sends a feedback to the controller, which then controls the drive device two to return the picking plate along the guide rail two.

[0025] S8. The detection device detects the height of the cargo on the truck and sends the feedback to the controller. The controller controls the three-lifting movable plate of the drive device to drive the material picking plate to rise, returning to step S4. The material picking plate continues to load the cargo on the truck.

[0026] S9. When the unloading plate slides to the position set by the system, robot B senses that there is a cargo signal on the unloading plate and then moves the cargo to the unloading location set by the system.

[0027] S10. When the unloading plate senses that there is no cargo, it sends a feedback to the controller. The controller then controls the drive unit to move the unloading plate and the unloading slide back to step S6, and continues to load cargo from the loading plate.

[0028] Furthermore, S2 also includes: when the unloading point is far away, the positioning system is activated to issue a command, the receiver in robot A and the unloading device receives the signal, and the PLC controller controls robot A and the unloading device to move to the side of the truck according to the positioning device and obstacle avoidance module; repeat steps S3-S8, at which time robot A stops grabbing the goods from the loading plate when it senses that there are goods on the unloading plate;

[0029] Once both the picking and unloading pallets are loaded with goods, the unloading device's sensors send instructions to the PLC control system. The control system then sends instructions to the positioning system. Under the guidance of the positioning system and obstacle avoidance module, the unloading device automatically navigates to a more distant unloading location. Robot B will also navigate to the same unloading location. When Robot B senses that there are goods on the picking and unloading pallets, it grabs the goods. After grabbing the goods, the sensors send a signal, and the unloading control system sends a signal to the positioning system. The unloading device then automatically navigates to the truck position to continue transporting goods, repeating the same steps until the work is completed.

[0030] Compared with existing technologies, the advantages of this invention are:

[0031] 1. Highly adaptable, suitable for most vehicle-mounted unloading applications and applicable to vehicles of most heights;

[0032] 2. High efficiency in height adjustment: Compared with the transmission method of conventional unloading devices, this device can quickly and conveniently adjust the height.

[0033] 3. High safety, driven by hydraulic cylinders for smoother operation;

[0034] 4. The unloading device can navigate automatically, making it easy to use. The cyclical operation of the material pick-up plate and the unloading plate improves efficiency.

[0035] 5. Use robots to grab goods to reduce the workload of staff; Attached Figure Description

[0036] Figure 1 This is a three-dimensional structure of an embodiment of an adjustable-height unloading device of the present invention. Figure 1 ;

[0037] Figure 2 This is a front view of an adjustable-height unloading device according to the present invention;

[0038] Figure 3 This is a side view of an adjustable-height unloading device according to the present invention;

[0039] Figure 4 This is a three-dimensional structure of another embodiment of an adjustable-height unloading device of the present invention. Figure 2 ;

[0040] Figure 5 This is a structural diagram of the control framework of an unloading control system according to the present invention;

[0041] Figure 6 This is a structural diagram of the sensing frame of the sensing system in an unloading control system of the present invention;

[0042] Figure 7 This is a structural diagram of the positioning frame of the positioning system in the unloading control system of the present invention;

[0043] Figure 8 This is a structural diagram of the control framework of the hydraulic system in an unloading control system of the present invention;

[0044] Figure 9 This is a structural diagram of the control framework of the PLC controller in an unloading control system of the present invention;

[0045] Figure 10 This is a control flowchart of an unloading control system according to the present invention;

[0046] Figure 11 This is a control flowchart of another embodiment of an unloading control system in the present invention;

[0047] In the diagram: 1-Wheel; 2-Base plate; 3-Guide rail one; 4-Unloading slide plate; 5-Unloading plate; 6-Drive device one; 7-Bracket one; 8-Bracket two; 9-Bearing plate; 10-Moving plate; 101-Reinforcing plate; 11-Retrieving plate; 12-Guide rail two; 13-Drive device two; 14-Drive device three. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example 1, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 7 A schematic diagram of an adjustable-height unloading device includes a horizontally positioned base plate 2, symmetrically arranged casters 1 on both sides of the bottom of the base plate 2, a material unloading device fixedly mounted on one side of the upper surface of the base plate 2, and two sets of brackets 8 perpendicular to the base plate fixedly mounted on the other side of the upper surface of the base plate 2 away from the material unloading device. One set of brackets is fixed at the two corners of the upper surface of the base plate 2, and the other set of brackets is fixedly mounted on the upper surface of the base plate 2 and adjacent to the material unloading device. The two sets of brackets 8 are respectively arranged correspondingly, and a bearing plate 9 is fixedly mounted at the top of the two sets of brackets 8. A material picking device is movably mounted on the upper surface of the bearing plate 9. A detection device for detecting the height of the truck is also installed on the brackets 8, and the detection device is electrically connected to the controller. A sensing device, a receiver for the positioning device, and an obstacle avoidance module are installed on the base plate 2.

[0050] The loading and unloading of goods is facilitated by the designed unloading and picking devices. The supporting plate 9 and two sets of brackets 8 can support the weight of the entire picking device. The casters 1 at the bottom allow for easy movement of the entire device. The receivers for the detection and positioning devices, as well as the obstacle avoidance module, contribute to the automated navigation of the unloading device. The sensors on the base plate can detect the goods throughout the unloading device. This data is transmitted to the controller and then to the positioning system.

[0051] Example 2, based on Example 1, please continue to refer to... Figure 1 The unloading device includes a guide rail 3, an unloading slide plate 4, and an unloading plate 5, all fixedly mounted parallel to each other on both sides of the base plate 2. The guide rail 3 is parallel to the base plate 2, and the unloading slide plate 4 slides in contact with the guide rail 3. A bracket 7 is installed at each of the four corners of the unloading slide plate 4. The upper end of each bracket 7 is equipped with an unloading plate 5, which is parallel to and corresponds to the unloading slide plate 4. A sensing device is installed on the unloading plate 5. The brackets enhance the load-bearing capacity of the unloading plate. There are four brackets and two parallel guide rails 3, allowing the unloading slide plate 4 to slide easily back and forth on the guide rails 3.

[0052] Example 3: Based on Example 2 above, please continue to refer to... Figure 1 , Figure 6 and Figure 8 In this assembly, a drive device 6 is installed at one end of the unloading slide plate 4 to drive it to slide along the guide rail 3. The drive device 6 is fixedly installed on the upper surface of the base plate 2, away from the unloading slide plate 4, and its movable end is connected to one end of the unloading slide plate 4. The unloading slide plate 4 and the unloading slide plate 5 together can slide along the guide rail 3 and are driven by the drive device 6. The drive device 6 is a hydraulic cylinder driven device, and the piston rod of the hydraulic cylinder can be fixedly connected to one end of the unloading slide plate 4 with bolts. The hydraulic cylinder is electrically connected to the controller, which controls the hydraulic cylinder to drive the drive device 6. A sensor is installed on the unloading plate 5 to detect whether there is any cargo. The sensor is electrically connected to the controller, and the sensor feeds back the data to the controller. The controller controls the drive device 6 to drive the unloading slide plate 4 to move according to the data.

[0053] When the sensing device detects that there is cargo on the unloading plate 5, the controller controls the drive device 6 to make the unloading slide plate 4 and the unloading plate 5 run together along the guide rail 3.

[0054] When the sensor detects that there is no cargo on the unloading plate 5, the controller controls the drive device 6 to return the unloading slide plate 4 and the unloading plate 5 together along the guide rail 3.

[0055] Example 4: Based on the above examples, please continue to refer to... Figure 1 and Figure 8 The material handling device includes a movable plate 10, two parallel guide rails 12 fixed to both sides of the upper surface of the movable plate 10, and a material handling plate 11. The material handling plate 11 is slidably mounted on the guide rails 12. A limit block is provided at the end of the guide rails 12 near the unloading plate 5. The movable plate 10 extends outward from the end away from the bearing plate 9 to reach into the interior of the truck. There are two parallel guide rails 12, and the material handling plate 11 can slide back and forth along the guide rails 12. The limit block restricts the sliding position of the material handling plate 11. The outwardly extending movable plate 10 can reach into the interior of the truck for convenient loading and unloading of goods. A reinforcing plate 101 is also provided on the lower surface of the movable plate 10 to increase the load-bearing capacity of the movable plate and make the material handling plate 11 run more smoothly after being loaded with goods.

[0056] Example 5: Based on the above examples, please continue to refer to... Figure 1 In the middle, a second drive device 13 is provided between the second guide rails 12 to drive the material picking plate 11 to move horizontally left and right. The second drive device 13 is horizontally fixed on the upper surface of the movable plate 10, and the movable end of the second drive device 13 is connected to one end of the material picking plate 11. The second drive device 13 is hydraulically driven, and the piston rod of the hydraulic cylinder is connected to one end of the material picking plate 11 by bolts. The material picking plate 11 can move horizontally back and forth along the second guide rails 12.

[0057] Example 6: Based on the above examples, please continue to refer to... Figure 6In the process, the material handling plate 11 is equipped with a sensor that can sense the goods. The sensor is electrically connected to the controller. The sensor feeds back the data to the controller, and the controller controls the drive device 2 13 to drive the material handling plate 11 to move according to the data.

[0058] The sensing device is set to the maximum weight that the picking plate 11 can withstand. When the weight approaches the maximum, the controller will sound an alarm and the staff will stop putting the goods on. Or, when the weight of the goods is not very heavy, the picking plate 11 can sense that there is no action of putting the goods on for a short time. The controller will control the drive device 2 13 to run along the guide rail 2 12. The weight sensing device can weigh the goods being put on and provide the staff with certain data.

[0059] When the sensing device detects that there is no loading action on the material picking plate 11 for a short period of time, the controller controls the drive device 2 13 to move the material picking plate 11 along the guide rail 2 12.

[0060] When the sensing device detects that there is no goods on the picking plate 11, the controller controls the drive device 2 13 to return the picking plate 11 along the guide rail 2 12.

[0061] The part of the material handling plate 11 that extends out under the drive of the second drive device 13 can be longer than the part of the movable plate that extends into the vehicle, which makes it more convenient to move goods inside the vehicle.

[0062] Example 7: Based on the above examples, please continue to refer to... Figure 1 , Figure 6 , Figure 8 In the middle, a drive device 3 14 is arranged longitudinally between the movable plate 10 and the base plate 2 to drive the movable plate 10 to move up and down. The lower end of the drive device 3 14 is fixed to the base plate 2, and the movable end passes through the support plate and connects to the lower surface of the movable plate 10. There are four drive devices 3 14 to make the rising and falling of the movable plate more stable. The drive device 3 14 is also hydraulically driven. The movable end of the hydraulic cylinder is fixedly connected to the movable plate 10. When the position of the picking plate needs to be raised, the piston rod of the hydraulic cylinder can extend the movable plate 10, driving the picking plate 11 to rise, so that the goods can be transported. After the goods are full, the detection device detects the height difference between the picking plate 11 and the unloading plate 5. The controller controls the movable plate 10 to drive the picking plate 11 to the same height as the unloading plate 5.

[0063] Example 8: Based on the above examples, please refer to... Figure 5 and Figure 9In this context, an unloading control system includes an adjustable-height unloading device, a robot located next to the unloading device, and an unloading control system that controls the robot and the unloading device. The unloading control system includes an industrial computer control system and a mobile terminal control system. The industrial computer control system includes a PLC control system, which includes a sensing system, a positioning system, and a hydraulic system. Robot A is located next to the material handling device, and robot B is located next to the unloading device. Robot A and robot B are electrically connected to the PLC controller.

[0064] Example 9: Based on the above examples, please refer to... Figure 6 and Figure 7 In this system, both Robot A and Robot B are equipped with sensors to detect goods. They also have receivers for positioning devices and obstacle avoidance modules. With this setup, goods on the picking plate 11 are sensed and picked up by Robot A and placed on the unloading plate 5. Goods on the unloading plate 5 are sensed and picked up by Robot B and placed at the unloading location set by the system. The receivers for positioning devices and the obstacle avoidance modules facilitate navigation for Robot A and Robot B; if they encounter obstacles, they can choose to stop or avoid them. The use of these robots can save on labor costs.

[0065] Example 10: Based on the above examples, please refer to... Figures 1-10 In this paper, an unloading control system and method include the following steps:

[0066] 1. The operator first sets up the unloading device and the robot's positioning system, as well as the robot's motion instruction program, on the industrial control computer control system according to the work requirements. The motion instruction program includes motion instructions for grabbing or releasing goods.

[0067] 2. When a truck arrives with goods, and the unloading point is nearby, the positioning system is activated and a command is sent. The receivers in the robot and the unloading device receive the signal, and the PLC controller controls robot A, robot B and the unloading device to navigate and move to the side of the truck according to the positioning device and obstacle avoidance module.

[0068] 3. Based on the height of the truck, the detection device detects the height of the cargo loaded on the truck. The detection device feeds back the truck height data to the controller. The controller controls the drive device 314 to lift the movable plate 10. The movable plate 10 drives the material picking plate 11 to rise to a height that is parallel to and lower than the height of the cargo on the truck.

[0069] 4. After the staff moves the goods onto the picking plate 11, the sensing device on the picking plate 11 is set to the maximum weight that the picking plate 11 can bear. When it approaches the maximum weight, the controller will sound an alarm. Or when the weight of the goods is not very heavy, the picking plate 11 can sense that there is no action of putting the goods down for a short time and send a command to the controller. The controller controls the drive device 2 13 to drive the picking plate 11 to move along the guide rail 2 12 and stop when it reaches the limit.

[0070] 5. The detection device detects the vertical distance between the material receiving plate 11 and the unloading plate 5, and sends the feedback to the controller. The controller controls the movable end of the drive device 3 14 to descend, driving the movable plate to descend until it is level with the upper surface of the unloading plate 5.

[0071] 6. Robot A starts to move when it senses that there is a cargo on the picking plate 11. It picks up the cargo from the picking plate 11 and puts it onto the unloading plate 5. After the sensing device senses that there is cargo on the unloading plate 5, it sends a command to the controller. After receiving the command, the controller controls the unloading slide plate 4 to slide along the guide rail 3 under the drive of the drive device 6.

[0072] 7. After the material picking plate 11 senses that there is no goods, it sends a feedback to the controller. The controller controls the drive device 2 13 to return the material picking plate 11 to its original horizontal position along the guide rail 2 12.

[0073] 8. The detection device detects the height of the cargo on the truck and sends the feedback to the controller. The controller controls the drive device 3 14 to lift the movable plate 10, which drives the material picking plate 11 to rise. Returning to step S4, the material picking plate 11 continues to load the cargo on the truck.

[0074] 9. When the unloading plate 5 slides to the position set by the system along with the unloading slide plate 4, the robot B senses that there is a cargo signal on the unloading plate 5 and then moves the cargo to the unloading location set by the system.

[0075] 10. When the unloading plate 5 senses that there is no cargo, it sends a feedback to the controller. The controller controls the drive device 6 to drive the unloading plate 5 and the unloading slide plate 4 back to step S6, and continues to load cargo from the loading plate 11.

[0076] Both the unloading plate 5 and the picking plate 11 operate in a cycle until all the goods have been moved.

[0077] Example 10: Based on the above examples, please refer to... Figure 11 In the above, a cargo unloading control system and method, step 2 further includes:

[0078] 21. When the unloading point is far away, the positioning system is activated and a command is issued. The receiver in robot A and the unloading device receives the signal. The PLC controller controls robot A and the unloading device to move to the side of the truck according to the positioning device and obstacle avoidance module. Repeat steps S3-S7. At this time, when robot A senses that there is cargo on the unloading plate (5), it stops grabbing the cargo from the picking plate 11.

[0079] 22. When both the picking plate and the unloading plate are loaded with goods, the sensor on the bottom plate 2 of the unloading device sends a command to the PLC control system. The control system then sends a command to the positioning system. Under the guidance of the positioning system and the obstacle avoidance module, the unloading device will automatically navigate to a more distant unloading location. Robot B will also locate and navigate to the same unloading location. When Robot B senses that there are goods on the picking plate and the unloading plate, it will grab the goods. After the goods are grabbed, the sensor on the bottom plate 2 sends a signal, and the PLC control system sends a signal to the positioning system. The unloading device will then automatically navigate to the truck position to continue transporting goods. The same steps are repeated until the work is completed.

[0080] The working principle of this invention is as follows: When a truck arrives at the warehouse fully loaded with goods, the staff will activate the PLC controller, the positioning system will issue a command, the receiver in the robot and unloading device will receive the signal, and the controller will control the robot and unloading device to move to the side of the truck.

[0081] The detection device detects the height of the cargo in the truck. After receiving the height signal, the controller raises the drive unit 6 to the required height. Then, the controller commands the drive unit 6, i.e., the movable end of the hydraulic cylinder, to push out and drive the movable plate 10 to rise. After reaching the corresponding height, the controller stops, making the height of the movable plate 10 level with the cargo in the truck bed. The outward extension of the movable plate 10 extends into the truck, and the staff moves the cargo onto the loading plate 11.

[0082] The material handling plate 11 is equipped with a maximum weight limit. When the weight approaches the maximum limit, the sensor on the material handling plate 11 will sound an alarm, and the operator will stop loading the material. Alternatively, if the weight of the material is not very heavy, the material handling plate 11 can detect a short period of inactivity. The sensor will then send feedback to the controller, which will control the drive unit 13 to operate automatically. This will cause the material handling plate 11 to slide along the guide rail 2 until it stops near the limit block at one end of the unloading plate 5. At this point, the detection device will detect the height difference between the material handling plate and the unloading plate, and the controller will control the drive unit to... The movable plate 10 descends to the same height as the unloading plate. When robot A senses the goods on the picking plate 11, the PLC controller controls robot A to grab the goods and leave the picking plate 11. When the picking plate 11 senses that there are no goods, it transmits a signal to the controller. The controller controls drive device 2 13 to drive the picking plate 11 back to its original horizontal position along the guide rail. The detection device detects the height of the goods on the truck and feeds back to the controller. The controller controls drive device 3 14 to lift the movable plate 10 and drive the picking plate 11 to rise, so that the staff can continue to place goods.

[0083] When all the goods are moved from robot A onto unloading plate 5, the sensors on unloading plate 5 detect the presence of the goods and transmit a signal to the controller. The controller then controls drive unit 6 to move unloading slide 4. Unloading slide 4 and unloading plate 5 slide along guide rail 3 until they stop at one end of base plate 2. When robot B detects the goods on unloading plate 5, it will grab the goods and remove them from unloading plate 5 to the unloading point. When the sensors on unloading plate 5 detect that there are no goods, the controller will control drive unit 6 to drive unloading slide 4 back to its original position and continue placing goods from picking plate 11.

[0084] While robot B picks up goods from unloading plate 5 and removes them, loading plate 11 is also placing goods on the truck. After unloading plate 5 has finished removing goods, drive unit 6 resets unloading plate 4 and places goods from loading plate 11. Both unloading plate 5 and loading plate 11 operate in a cycle until all goods have been moved. This improves work efficiency. This implementation method is only suitable when the goods are placed at a relatively short distance.

[0085] If the location where the goods are placed is far away, please refer to... Figure 4 , Figure 11In this process, the unloading device and Robot A are positioned and navigated to the truck via the positioning system of the PLC control system. Robot B navigates to the unloading point. Robot A follows the unloading device to the truck. The unloading device rises, and the picking plate places the goods on the truck. The picking plate, controlled by the controller, allows Robot A to transport the goods from picking plate 11 to unloading plate 5. Picking plate 11 then retracts and rises again to place more goods. Simultaneously, when Robot A senses that there is goods on unloading plate 5, it will not grab any more goods from picking plate 11. When the goods on picking plate 11 and unloading plate 5 reach their maximum load capacity, the sensors on the base plate 2 send information to the PLC control system. The PLC control system then sends a command to the positioning system, which controls the unloading device to automatically move to the unloading location. Robot B will also be positioned and navigated to the same unloading location. When the unloading device arrives at the unloading point, Robot B senses the goods on the unloading device and sends feedback to the controller. The controller then controls Robot B to grab all the goods and place them at the unloading point. After the goods are picked up, the sensors on the bottom plate 2 of the unloading device send feedback to the PLC control system. The unloading device then navigates to the truck's location using the positioning system to continue transporting the goods, and the cycle repeats.

[0086] PLC control systems can be applied to mobile terminal APP programs. Similarly, the unloading device and robot can be controlled via an APP. Mobile terminals include smartphones, tablets, and iPads. Users can download the complete APP software for controlling the unloading device and robot on their smartphones, tablets, or iPads, and control the unloading device and robot through the one-click operation control program within the APP software.

[0087] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A height-adjustable unloading device, comprising a horizontally arranged base plate (2) and symmetrically arranged casters (1) on both sides of the bottom of the base plate (2), characterized in that: A material unloading device is fixedly installed on one side of the upper plate of the base plate (2). Two sets of brackets (8) perpendicular to the base plate are fixedly installed on the other side of the upper plate of the base plate (2) away from the material unloading device. One set of brackets is fixed at the two corners of the upper plate of the base plate (2), and the other set of brackets is fixed on the upper plate of the base plate (2) and adjacent to the material unloading device. The two sets of brackets (8) are respectively arranged correspondingly, and a bearing plate (9) is fixedly installed at the top of the two sets of brackets (8). A material picking device is movably installed on the upper plate of the bearing plate (9). A detection device for detecting the height of the truck is also installed on the bracket (8). The detection device and the controller are electrically connected. A sensor, a receiver for the positioning device, and an obstacle avoidance module are installed on the base plate (2). The unloading device includes a guide rail (3) fixedly installed on both sides of the upper surface of the base plate (2) and parallel to each other, an unloading slide plate (4) and an unloading plate (5). The guide rail (3) is parallel to the base plate (2). The unloading slide plate (4) slides in contact with the guide rail (3). A bracket (7) is provided at each of the four corners of the unloading slide plate (4). The upper end of the bracket (7) is provided with an unloading plate (5) that is parallel to and corresponds to the unloading slide plate (4). The unloading plate (5) is provided with a sensing device for sensing the goods and weight. The unloading slide plate (4) is provided with a drive device (6) at one end to drive the unloading slide plate (4) to slide along the guide rail (3). The drive device (6) is fixedly installed on the upper surface of the base plate (2) and away from the unloading slide plate (4). The movable end of the drive device (6) is connected to one end of the unloading slide plate (4). The drive device (6) is driven by a hydraulic cylinder and is electrically connected to the controller. The material handling device includes a movable plate (10) parallel to the bearing plate (9), two guide rails (12) fixed on both sides of the upper surface of the movable plate (10) and parallel to each other, and a material handling plate (11). The material handling plate (11) is slidably disposed on the guide rails (12). A limit block is provided at one end of the guide rails (12) near the unloading plate (5). The movable plate (10) extends outward from the end away from the bearing plate (9) and the extension length is longer than that of the bearing plate (9) for extending into the interior of the truck. The material handling plate (11) is provided with a sensing device for sensing the cargo and weight. A second driving device (13) is provided between the second guide rail (12) to drive the material picking plate (11) to move horizontally left and right. The second driving device (13) is horizontally fixed on the upper surface of the movable plate (10). The movable end of the second driving device (13) is connected to one end of the material picking plate (11). The second driving device (13) is driven by a hydraulic cylinder and is electrically connected to the controller. A third driving device (14) is provided in the longitudinal direction between the movable plate (10) and the bottom plate (2) to drive the movable plate (10) to move up and down. The lower end of the third driving device (14) is fixed on the bottom plate (2), and the movable end passes through the bearing plate and is connected to the lower surface of the movable plate (10). The third driving device (14) is driven by a hydraulic cylinder and is electrically connected to the controller.

2. A loading and unloading control system, comprising an adjustable-height loading and unloading device as described in claim 1, and further comprising a robot located beside the loading and unloading device and a terminal control system for controlling the robot and the loading and unloading device, characterized in that: The unloading control system includes an industrial computer control system and a mobile terminal control system. The industrial computer control system includes a PLC control system, which includes a sensing system, a positioning system, and a hydraulic system. Robot A is installed next to the material handling device, and robot B is installed next to the unloading device. Robot A and robot B are electrically connected to the PLC controller.

3. The unloading control system according to claim 2, characterized in that: Both Robot A and Robot B are equipped with sensing devices for sensing goods. Robot A and Robot B are also equipped with receivers for positioning devices and obstacle avoidance modules.

4. A control method for an unloading control system, employing the unloading control system described in claim 3, characterized in that, Includes the following steps: S1. The operator first sets up the unloading device and the robot's positioning system and the robot's motion instruction program on the industrial control computer control system according to the work requirements. The motion instruction program includes the motion instructions for grabbing or releasing goods. S2. When a truck arrives with goods, and the unloading point is nearby, the positioning system is activated and a command is sent. The receivers in the robot and the unloading device receive the signal, and the PLC controller controls robot A, robot B and the unloading device to navigate and move to the side of the truck according to the positioning device and obstacle avoidance module. S3. Based on the height of the truck, the detection device detects the height of the cargo loaded on the truck. The detection device feeds back the truck height data to the controller. The controller controls the drive device three (14) to lift the movable plate (10). The movable plate (10) drives the material picking plate (11) to rise to a height that is parallel to and lower than the cargo on the truck. S4. After the staff moves the goods onto the picking plate (11), the sensing device on the picking plate (11) is set to the maximum weight that the picking plate (11) can bear. When it approaches the maximum weight, the controller will sound an alarm. Or when the weight of the goods is not very heavy, the picking plate (11) can sense that there is no action of putting the goods down for a short time and send a command to the controller. The controller controls the second drive device (13) to drive the picking plate (11) to move along the second guide rail (12) and stop when it reaches the limit. S5. The detection device detects the vertical distance between the material taking plate (11) and the unloading plate (5) and feeds it back to the controller. The controller controls the moving end of the drive device three (14) to descend, driving the moving plate to descend until it is level with the upper plate surface of the unloading plate (5). S6. Robot A starts to move when it senses that there is a cargo on the picking plate (11), and picks up the cargo from the picking plate (11) and puts it on the unloading plate (5). After the sensing device senses that there is cargo on the unloading plate (5), it sends an instruction to the controller. After receiving the instruction, the controller controls the unloading slide plate (4) to slide along the guide rail (3) under the drive of the drive device (6). S7. After the picking plate (11) senses that there is no goods, it sends feedback to the controller. The controller controls the second drive device (13) to return the picking plate (11) along the second guide rail (12). S8. The detection device detects the height of the cargo on the truck and sends the feedback to the controller. The controller controls the drive device three (14) to lift the movable plate (10) and drive the picking plate (11) to rise. The picking plate (11) continues to load the cargo on the truck. S9. When the unloading plate (5) slides to the position set by the system following the unloading slide (4), the robot B senses that there is a cargo signal on the unloading plate (5) and then moves the cargo to the unloading location set by the system. S10. When the unloading plate (5) senses that there is no cargo, it feeds back to the controller. The controller controls the drive device (6) to drive the unloading plate (5) and the unloading slide (4) back to continue loading cargo from the picking plate (11).

5. The control method of the unloading control system according to claim 4, characterized in that: The S2 also includes: S21. When the unloading point is far away, the positioning system is activated and a command is issued. The receiver in robot A and the unloading device receives the signal. The PLC controller controls robot A and the unloading device to move to the side of the truck according to the positioning device and the obstacle avoidance module. Repeat steps S3-S8. At this time, when robot A senses that there is cargo on the unloading plate (5), it stops grabbing cargo from the picking plate (11). S22. When both the picking plate (11) and the unloading plate (5) are loaded with goods, the sensor of the unloading device sends an instruction to the PLC control system. The control system sends the instruction to the positioning system. Under the guidance of the positioning system and the obstacle avoidance module, the unloading device will automatically navigate to a more distant unloading location. Robot B will also be positioned and navigated to the same unloading location. When Robot B senses that there are goods on the picking plate (11) and the unloading plate (5), it grabs the goods. After the goods are grabbed, the sensor sends a signal. The unloading control system sends a signal to the positioning system. The unloading device then automatically navigates to the truck position to continue transporting the goods. The same steps are repeated until the work is completed.

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