A multiple hook robot system and method for cargo loading and unloading

Abstract

The present invention belongs to the technical field of unhooking robots, and in particular to a re-hooking robot system and method for cargo loading and unloading. In view of the fact that the existing special mechanical arms for unhooking robots have a high probability of reconnecting the hooks on the carriages that have been unhooked but not separated when there is no power assistance, which brings great inconvenience to the unhooking and separation operations, the following scheme is proposed, including a mounting plate. The re-hooking robot system for cargo loading and unloading disclosed by the present invention can push the front vehicle frame and the rear vehicle frame when the hooks on the front vehicle frame and the rear vehicle frame are still in contact with each other after the mechanical arm body has completed the unhooking operation, so that the hooks on the front vehicle frame and the rear vehicle frame are separated from each other, effectively avoiding the situation that the front vehicle frame and the rear vehicle frame are reconnected after unhooking, ensuring the success rate of unhooking, and improving the efficiency of unhooking.

Description

Technical Field

[0001] The present invention relates to the technical field of hook-removing robots, and in particular to a hook-removing robot system and method for cargo loading and unloading. Background Art

[0002] A car tipper is a large-scale, efficient mechanized unloading equipment. Its unloading operation has a high degree of mechanization and large production capacity, and is widely used. At present, the coal unloading system of the car tipper has been basically automated, but the unhooking of the open car mentioned above before and after coal unloading is still done manually. The development of automatic unhooking equipment can reduce the risk of workers' on-site operations and realize unmanned unhooking, which is of great auxiliary significance for realizing unmanned coal unloading.

[0003] After the existing dedicated mechanical arm of the unhooking robot unhooks the hook connecting the carriages, it needs power assistance from the power carriage to ensure that the front and rear carriages are completely unhooked. Without power assistance, the hooks on the carriages that have been unhooked but not separated still have a high probability of reconnecting, which brings great inconvenience to the unhooking and separation operation. Summary of the invention

[0004] The invention discloses a re-hooking robot system and method for cargo loading and unloading, aiming to solve the technical problem in the background technology that the dedicated mechanical arm of the existing unhooking robot cannot ensure that the carriages can be separated from each other after unhooking.

[0005] A double-hook robot system for cargo loading and unloading proposed by the present invention comprises a mounting plate, a front vehicle frame and a rear vehicle frame are arranged below the mounting plate, and four symmetrical support frames are arranged at the bottom of the mounting plate, wherein the outer parts of the two support frames close to the front vehicle frame are in contact with the upper side of the front vehicle frame, the upper sides of the front vehicle frame and the rear vehicle frame are fixedly connected with two symmetrical columnar pins, and two-way fixing modules are arranged on the support frames, a circular opening is opened on the upper side of the mounting plate, a steering seat is movably connected in the circular opening, a mechanical arm body is arranged at the bottom of the steering seat, a steering motor is fixedly connected to the upper side of the mounting plate, the output end of the steering motor is connected to the upper side of the steering seat by a coupling, two symmetrical unhooking and separation modules are arranged on the mounting plate, and the unhooking and separation module is located between the front vehicle frame and the rear vehicle frame.

[0006] By providing a mounting plate, a front vehicle frame, a rear vehicle frame, a columnar pin, a support frame, a steering motor, a steering seat, an unhooking and separating module, a bidirectional fixing module and a mechanical arm body, the device can use the unhooking and separating module to push the front vehicle frame and the rear vehicle frame when the hooks on the front vehicle frame and the rear vehicle frame are still in contact with each other after the mechanical arm body completes the unhooking operation, so that the hooks on the front vehicle frame and the rear vehicle frame are separated from each other, effectively avoiding the situation that the front vehicle frame and the rear vehicle frame are reconnected after unhooking, ensuring the success rate of unhooking and improving the efficiency of unhooking.

[0007] In a preferred embodiment, the uncoupling and separation module includes two symmetrical rotating shaft seats, two symmetrical circular grooves are provided on the mounting plate, the inner walls of the two circular grooves are respectively movably connected to the outside of the two rotating shaft seats, the bottom of the rotating shaft seats are fixedly connected to two symmetrical connecting frames, the two connecting frames on the same side are fixedly connected to the same fixing plate at one end away from the rotating shaft seat, the bottom of the fixing plate is fixedly connected to a sleeve, and the outside of the rotating shaft seat is fixedly connected to an external gear ring; the outside of the external gear ring is provided with a locking ring, the bottom of the locking ring is slidably connected to the upper side of the mounting plate, and the outside of the locking ring The limiting card is slidably connected with a limiting card, the bottom of the limiting card is fixedly connected to the upper side of the mounting plate, and the inner wall of the locking ring is fixedly connected with an arc-shaped rack, and the arc-shaped rack is clamped with the outer gear ring on the same side; the limiting card is fixedly connected with a spring one on the side away from the rotating shaft seat, and the end of the spring one away from the limiting card is fixedly connected to the inner wall of the locking ring on the same side, and the upper side of the rotating shaft seat is fixedly connected with two symmetrical mounting seats, and the mounting seats are movably connected with shaft rods, and the outside of the shaft rods is fixedly connected with a blocking rod, and the end of the blocking rod away from the mounting seat is clamped with a blocking iron block, and the side of the blocking iron block opposite to the mounting plate is fixed The outer part of the shaft rod is fixedly connected with a coil spring 1, and the end of the coil spring 1 away from the shaft rod is fixedly connected to the outer part of the mounting seat on the same side; the inner wall of the sleeve is fixedly connected with a partition plate, and the side of the partition plate away from the rear vehicle frame is fixedly connected with a drive motor, and the output end of the drive motor is connected to a threaded rod through a coupling, and the outer part of the threaded rod is movably connected with a support plate 1, and the outer part of the support plate 1 is fixedly connected to the inner wall of the sleeve, and the outer part of the threaded rod is provided with a support column, and the outer part of the support column is slidably connected to the inner wall of the sleeve on the same side, and the end of the support column away from the sleeve is connected to the front vehicle frame The side of the clamping mounting plate is in contact; the side of the dividing plate away from the front vehicle frame is fixedly connected to an air pump, the inner wall of the sleeve is fixedly connected to the support plate 2, the side of the support plate 2 away from the dividing plate is fixedly connected to an air bag, the output end of the air pump passes through the support plate 2 on the same side and is connected to the outside of the air bag through a conduit, the outside of the air bag is slidably connected to the inner wall of the sleeve on the same side, the side of the air bag away from the sleeve is fixedly connected to a contact plate, the outside of the sleeve is fixedly connected to two symmetrical bosses, the bosses are slidably connected to guide rods, and the end of the guide rod away from the sleeve is fixedly connected to the outside of the contact plate of the set.

[0008] By providing an unhooking and separation module, the unhooking and separation module utilizes the support column and the airbag to enable the device to use the system formed after the support column contacts the front vehicle frame as the force basis, and quickly and stably push the rear vehicle frame and the front vehicle frame apart through the continuously expanding airbag, thereby effectively ensuring the unhooking success rate of the device, and utilizing the locking ring and the arc-shaped rack to enable the device to switch directions when selecting the force basis, so that the force basis where the support column is located can be selected on a car with a larger dead weight, so that the device can more easily push the lighter car away, thereby improving convenience.

[0009] In a preferred solution, the bidirectional fixing module includes four symmetrical vertical axes, four symmetrical openings are provided on the mounting plate, the inner walls of the openings are movably connected to the outside of the vertical axes, the outside of the vertical axes are fixedly connected to steering wheels, the steering wheels are located below the mounting plate, the outside of the steering wheels are fixedly connected to the outside of the support frame on the same side, and the outside of the vertical axes are provided with directional latches, the outside of the openings are provided with two symmetrical arc-shaped slots, the arc-shaped slots are located on the mounting plate, the outside of the directional latches are slidably connected to the inner walls of the arc-shaped slots, the outside of the steering wheels are provided with notches, the inner walls of the notches are clamped with the outside of the directional latches on the same side; the support frames are provided with accommodating grooves, the accommodating grooves are slidably connected to bases, the outside of the bases are fixedly connected to mobile frames, and the support frames are provided with narrow grooves, the inner walls of the narrow grooves are clamped with the mobile frames on the same side. The outer sliding connection of the two bases is formed on the support frame, and a plurality of mutually symmetrical circular holes are provided on the movable frame, and two symmetrical narrow openings are provided on the movable frame, and fixing pins are inserted in the narrow holes, and the outer parts of the fixing pins are inserted in the circular holes on the support frame; a groove is provided on the upper side of the base, and movable parts are slidably connected in the groove, and an annular groove is provided on the columnar pins, and the outer parts of the two columnar pins on the front vehicle frame are respectively slidably connected with the inner walls of the two bases, and the outer parts of the movable parts on the two bases close to the front vehicle frame are clamped with the inner walls of the annular grooves on the same side, and the upper sides of the movable parts are fixedly connected with the short shaft; the upper side of the base is movably connected with a rotating frame, and a curved groove is provided on the rotating frame, and the inner walls of the curved grooves are slidably connected with the outer parts of the short shaft, and the inner wall of the rotating frame is fixedly connected with two coil springs, and the ends of the two coil springs away from the rotating frame are fixedly connected with the upper side of the base on the same side.

[0010] By providing a two-way fixing module, the two-way fixing module uses a directional pin and a steering wheel to allow the device to freely select a fixed carriage when connected to the carriage, thereby improving the applicability of the device. The rotatable steering wheel makes the device more convenient when folded and stored and fixed and installed. The movable part that uses rotation to unlock not only ensures the connection stability between the device and the columnar pin, but also makes the device more convenient when dismantled, reducing the workload of workers.

[0011] A method for using a multiple hook robot for cargo loading and unloading, using the multiple hook robot system for cargo loading and unloading as described above, comprises the following steps:

[0012] Step 1: Before unhooking, rotate the two support frames on the mounting plate close to the front vehicle frame until they are in contact with the upper side of the front vehicle frame, and then use a two-way fixing module to fix the support frames to the outside of the columnar pins connected to the front vehicle frame, so that the mounting plate can be fixed to the front vehicle frame;

[0013] Step 2: Start the steering motor. The steering motor drives the mechanical arm body connected to the steering seat to turn to the hook on the front vehicle frame, so that the mechanical arm body can perform the unhooking operation. After unhooking, use the unhooking separation module to push the uncoupled front vehicle frame and rear vehicle frame away from each other, so that the hooks on the front vehicle frame and the rear vehicle frame are no longer in contact. When re-hooking operation is required, follow the above steps.

[0014] As can be seen from the above, the re-hooking robot system for cargo loading and unloading provided by the present invention can push the front vehicle frame and the rear vehicle frame when the hooks on the front vehicle frame and the rear vehicle frame are still in contact with each other after the robot arm body completes the unhooking operation, so that the hooks on the front vehicle frame and the rear vehicle frame are separated from each other, effectively avoiding the situation where the front vehicle frame and the rear vehicle frame are reconnected after unhooking, ensuring the success rate of unhooking and improving the efficiency of unhooking. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of a multiple hook robot system for cargo loading and unloading proposed by the present invention;

[0016] Figure 2 This is a front view structural schematic diagram of a multiple hook robot system for cargo loading and unloading proposed by the present invention;

[0017] Figure 3 This is a schematic diagram of the structure of an unhooking and separation module of a multiple hook robot system for cargo loading and unloading proposed by the present invention;

[0018] Figure 4 This is a schematic diagram of the locking ring structure of a multiple hook robot system for cargo loading and unloading proposed by the present invention;

[0019] Figure 5 This is a schematic diagram of the sleeve structure of a multiple hook robot system for cargo loading and unloading proposed by the present invention;

[0020] Figure 6 This is a schematic diagram of the bidirectional fixing module structure of a multiple hook robot system for cargo loading and unloading proposed by the present invention;

[0021] Figure 7This is a schematic diagram of the support frame structure of a multiple hook robot system for cargo loading and unloading proposed by the present invention;

[0022] Figure 8 This is a schematic diagram of the base structure of a multiple-hook robot system for cargo loading and unloading proposed by the present invention.

[0023] In the figure: 1, mounting plate; 2, front vehicle frame; 3, rear vehicle frame; 4, columnar pin; 5, support frame; 6, steering motor; 7, steering seat; 8, unhooking and separation module; 801, rotating shaft seat; 802, connecting frame; 803, fixing plate; 804, sleeve; 805, outer gear ring; 806, locking ring; 807, limiting card; 808, arc rack; 809, spring 1; 810, mounting seat; 811, shaft rod; 812, blocking rod; 813, coil spring 1; 814, iron block; 815, dividing plate; 816, support plate 1; 817, threaded rod; 818, driving motor; 819, support column; 820, support plate 2; 821, air pump; 822, air bag; 823, contact plate; 824, guide rod; 9, two-way fixing module; 901, vertical axis; 902, steering wheel; 903, notch; 904, arc-shaped slot; 905, directional latch; 906, movable plate; 907, spring 2; 908, receiving slot; 909, base; 910, movable frame; 911, narrow slot; 912, round hole; 913, fixing pin; 914, cutting slot; 915, movable part; 916, short axis; 917, annular slot; 918, rotating frame; 919, curved slot; 920, coil spring 2; 10, robot arm body. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0025] The invention discloses a re-hooking robot system for cargo loading and unloading, which is mainly applied to the scenario where the existing dedicated mechanical arm of the unhooking robot cannot ensure that the carriages can be separated from each other after unhooking.

[0026] Reference Figure 1-Figure 8A multiple hook robot system for cargo loading and unloading comprises a mounting plate 1, a front vehicle frame 2 and a rear vehicle frame 3 are arranged below the mounting plate 1, and four symmetrical support frames 5 are arranged at the bottom of the mounting plate 1, wherein the outer portions of the two support frames 5 close to the front vehicle frame 2 are in contact with the upper side of the front vehicle frame 2, and the upper sides of the front vehicle frame 2 and the rear vehicle frame 3 are both connected with two symmetrical columnar pins 4 by bolts, and a bidirectional fixing module 9 is arranged on the support frames 5, a circular opening is opened on the upper side of the mounting plate 1, a steering seat 7 is rotatably connected with the circular opening through a bearing, a mechanical arm body 10 is arranged at the bottom of the steering seat 7, a steering motor 6 is connected with the upper side of the mounting plate 1 by bolts, and the output end of the steering motor 6 is connected with the upper side of the steering seat 7 by a coupling, two symmetrical unhooking and separating modules 8 are arranged on the mounting plate 1, and the unhooking and separating module 8 is located between the front vehicle frame 2 and the rear vehicle frame 3.

[0027] Specifically, before the unhooking operation is performed, the two support frames 5 on the mounting plate 1 close to the front vehicle frame 2 are rotated to fit the upper side of the front vehicle frame 2, and the support frames 5 are fixed to the outside of the columnar pins 4 connected to the front vehicle frame 2 using the bidirectional fixing module 9, so that the mounting plate 1 can be fixed to the front vehicle frame 2, and the steering motor 6 is started, and the steering motor 6 drives the mechanical arm body 10 connected to the steering seat 7 to turn to the hook on the front vehicle frame 2, so that the mechanical arm body 10 can perform the unhooking operation. After unhooking, the unhooking separation module 8 is used to release the unhooking. The connected front vehicle frame 2 and rear vehicle frame 3 push each other away, so that the hooks on the front vehicle frame 2 and the rear vehicle frame 3 are no longer in contact; the device can use the unhooking separation module 8 to push the front vehicle frame 2 and the rear vehicle frame 3 when the hooks on the front vehicle frame 2 and the rear vehicle frame 3 are still in contact with each other after the mechanical arm body 10 completes the unhooking operation, so that the hooks on the front vehicle frame 2 and the rear vehicle frame 3 are separated from each other, effectively avoiding the situation that the front vehicle frame 2 and the rear vehicle frame 3 are reconnected after unhooking, ensuring the success rate of unhooking and improving the efficiency of unhooking.

[0028] Reference Figure 3 , Figure 4 and Figure 5In a preferred embodiment, the unhooking and separating module 8 includes two symmetrical rotating shaft seats 801, two symmetrical circular notches are provided on the mounting plate 1, the inner walls of the two circular notches are respectively connected to the outside of the two rotating shaft seats 801 through bearings, the bottom of the rotating shaft seats 801 are connected to two symmetrical connecting frames 802 through bolts, the ends of the two connecting frames 802 on the same side away from the rotating shaft seats 801 are connected to the same fixing plate 803 through bolts, the bottoms of the fixing plates 803 are connected to sleeves 804 through bolts, and the outsides of the rotating shaft seats 801 are connected to external gear rings 805 through bolts; The outside of the gear ring 805 is provided with a locking ring 806, the bottom of the locking ring 806 is slidably connected to the upper side of the mounting plate 1, the outside of the locking ring 806 is slidably connected to a limiting card 807, the bottom of the limiting card 807 is connected to the upper side of the mounting plate 1 by bolts, and the inner wall of the locking ring 806 is connected with an arc-shaped rack 808 by bolts, and the arc-shaped rack 808 is clamped with the outer gear ring 805 on the same side; the side of the limiting card 807 away from the rotating shaft seat 801 is connected with a spring 809 by bolts, and the end of the spring 809 away from the limiting card 807 is bolted to the inner wall of the locking ring 806 on the same side The upper side of the rotating shaft seat 801 is connected with two symmetrical mounting seats 810 by bolts, and the mounting seats 810 are rotatably connected with shaft rods 811 by bearings, and the outside of the shaft rods 811 are connected with blocking rods 812 by bolts, and the end of the blocking rods 812 away from the mounting seat 810 is clamped with a blocking iron block 814, and the side of the blocking iron block 814 opposite to the mounting plate 1 is connected by bolts, and the outside of the shaft rods 811 is connected with a coil spring 813 by bolts, and the end of the coil spring 813 away from the shaft rod 811 is connected to the outside of the mounting seat 810 on the same side by bolts; the inner wall of the sleeve 804 is connected by bolts A partition plate 815 is connected, and a driving motor 818 is connected to the side of the partition plate 815 away from the rear vehicle frame 3 by bolts. The output end of the driving motor 818 is connected to a threaded rod 817 through a coupling. The outside of the threaded rod 817 is rotatably connected to a support plate 1 816 through a bearing. The outside of the support plate 1 816 is connected to the inner wall of the sleeve 804 by bolts, and a support column 819 is arranged on the outside of the threaded rod 817. The outside of the support column 819 is slidably connected to the inner wall of the sleeve 804 on the same side, and the end of the support column 819 away from the sleeve 804 is in contact with one side of the front vehicle frame 2 clamping the mounting plate 1;The side of the partition plate 815 away from the front vehicle frame 2 is connected to the air pump 821 by bolts, the inner wall of the sleeve 804 is connected to the support plate 2 820 by bolts, the side of the support plate 2 820 away from the partition plate 815 is connected to the air bag 822 by bolts, the output end of the air pump 821 passes through the support plate 2 820 on the same side and is connected to the outside of the air bag 822 through a conduit, the outside of the air bag 822 is slidably connected to the inner wall of the sleeve 804 on the same side, the side of the air bag 822 away from the sleeve 804 is connected to the contact plate 823 by bolts, the outside of the sleeve 804 is connected to two symmetrical bosses by bolts, the bosses are slidably connected to the guide rod 824, and the end of the guide rod 824 away from the sleeve 804 is connected to the outside of the contact plate 823 of the package by bolts. ;

[0029] Specifically, after the mounting plate 1 is fixed to the columnar pin 4 on the front vehicle frame 2, the torsion of the coil spring 813 is overcome to pull the blocking rod 812 out of the blocking iron block 814, and the locking ring 806 is pushed, so that the locking ring 806 overcomes the thrust of the spring 809 and slides on the limiting card 807 in the direction of the blocking rod 812, so that the arc-shaped rack 808 is released from the clamping of the outer gear ring 805, and the rotating shaft seat 801 is rotated, so that the rotating shaft seat 801 drives the sleeve 804 connected to the connecting frame 802 and the fixing plate 803 to rotate, so that the support column 819 in the sleeve 804 faces the front vehicle frame 2, and the locking ring 806 is released. Under the push of the spring 809, the locking ring 806 is reset, and the arc-shaped rack 808 is clamped with the outer gear ring 805 again, and the rotating shaft seat 80 1 stops rotating, the blocking rod 812 is released, the blocking rod 812 is engaged with the block 814 again and the spring 1 809 stops moving, the driving motor 818 is started, the driving motor 818 drives the threaded rod 817 to rotate, so that the threaded rod 817 pushes the support column 819 to rotate out of the sleeve 804 until it contacts the outside of the front vehicle frame 2, the driving motor 818 is turned off, and the air pump 821 is started. The air pump 821 pumps air into the airbag 822, so that the airbag 822 expands and extends from the sleeve 804, and the airbag 822 pushes the contact plate 823 to contact the outside of the rear vehicle frame 3. As the airbag 822 continues to expand, the airbag 822 will push the front vehicle frame 2 and the rear vehicle frame 3 away, so that the unlocked hooks on the front vehicle frame 2 and the rear vehicle frame 3 are completely separated.

[0030] In a specific application scenario, the uncoupling and separation module 8 is mainly suitable for the uncoupling and separation link in the uncoupling and separation process, that is, the uncoupling and separation module 8 uses the support column 819 and the airbag 822 to enable the device to use the system formed after the support column 819 contacts the front vehicle frame 2 as a force basis, and through the continuously expanding airbag 822, the rear vehicle frame 3 and the front vehicle frame 2 are pushed away quickly and stably, effectively ensuring the uncoupling success rate of the device.

[0031] It should be noted that the use of the locking ring 806 and the arc-shaped rack 808 allows the device to switch direction when selecting a force-bearing base, so that the force-bearing base where the support column 819 is located can be selected on a car with a larger weight, allowing the device to more easily push away the lighter car, thereby improving convenience.

[0032] Reference Figure 6 , Figure 7 and Figure 8 In a preferred embodiment, the bidirectional fixing module 9 includes four symmetrical vertical shafts 901, and the mounting plate 1 is provided with four symmetrical openings. The inner walls of the openings are rotatably connected to the outside of the vertical shafts 901 through bearings. The outside of the vertical shafts 901 are connected to steering wheels 902 through bolts. The steering wheels 902 are located below the mounting plate 1. The outside of the steering wheels 902 is connected to the outside of the support frame 5 on the same side through bolts. The outside of the vertical shafts 901 is provided with directional pins 905. The outside of the openings is provided with two symmetrical arc-shaped slots 904. The arc-shaped slots 904 are all located on the mounting plate 1, the outer parts of the directional latches 905 are all slidably connected to the inner walls of the arc-shaped slots 904, the outer parts of the steering wheels 902 are all provided with notches 903, and the inner walls of the notches 903 are all engaged with the outer parts of the directional latches 905 on the same side; the support frames 5 are all provided with receiving slots 908, and the receiving slots 908 are all slidably connected to the bases 909, and the outer parts of the bases 909 are all connected to the moving frames 910 by bolts, and the support frames 5 are all provided with narrow slots 911, and the inner walls of the narrow slots 911 are all engaged with the outer parts of the moving frames 910 on the same side. Sliding connection, the support frame 5 is provided with a plurality of symmetrical circular holes 912, and the movable frame 910 is provided with two symmetrical narrow openings, and the narrow holes are plugged with fixing pins 913, and the outer parts of the fixing pins 913 are plugged with the circular holes 912 on the support frame 5; the upper side of the base 909 is provided with a slot 914, and the slot 914 is slidably connected with a movable part 915, and the columnar pin 4 is provided with an annular groove 917, and the outer parts of the two columnar pins 4 on the front vehicle frame 2 are respectively slidably connected with the inner walls of the two bases 909, and the two bases 909 near the front vehicle frame 2 are connected. The outside of the movable parts 915 on 09 are all clamped with the inner wall of the annular groove 917 on the same side, and the upper side of the movable parts 915 is connected to the short shaft 916 by bolts; the upper side of the base 909 is rotatably connected to the rotating frame 918 through a bearing, and the rotating frame 918 is provided with a curved groove 919, and the inner wall of the curved groove 919 is slidably connected to the outside of the short shaft 916, and the inner wall of the rotating frame 918 is connected to the coil spring 920 by bolts, and the end of the coil spring 920 away from the rotating frame 918 is connected to the upper side of the base 909 on the same side by bolts.

[0033] Specifically, the thrust of the second spring 907 is overcome to lift the arc groove 904 from the arc groove 904, so that the directional pin 905 releases the lock on the notch 903 on the steering wheel 902, and the steering wheel 902 is turned to make the steering wheel 902 drive the support frame 5 to rotate, so that the two support frames 5 close to the front vehicle frame 2 are rotated to above the columnar pin 4 on the front vehicle frame 2, and the directional pin 905 is released to make the directional pin 905 re-engage with the notch 903, and the support frame 5 no longer rotates, and the fixed pin 913 on the support frame 5 is pulled out, so that the mobile frame 910 slides in the narrow groove 911, so that the base 909 on the mobile frame 910 is located directly above the columnar pin 4, and the fixed pin 913 is inserted into the mobile frame 910. The movable frame 910 is fixed on the narrow groove 911 and no longer moves. The base 909 is aligned with the columnar pin 4 and inserted. The rotating frame 918 is rotated. The rotating frame 918 overcomes the torsion of the coil spring 920 and rotates, and the curved groove 919 pushes the short shaft 916 to move the movable member 915 out of the center of the base 909, so that the columnar pin 4 can be completely inserted into the base 909. The rotating frame 918 is released. Under the torsion of the coil spring 920, the movable member 915 is quickly reset, so that the movable member 915 is clamped and fixed with the annular groove 917 on the columnar pin 4, so that the mounting plate 1 is fixed on the front vehicle frame 2, and the two support frames 5 close to the rear vehicle frame 3 are not operated.

[0034] In specific application scenarios, the bidirectional fixing module 9 is mainly suitable for the bidirectional fixing link in the bidirectional fixing process, that is, the bidirectional fixing module 9 uses the directional pin 905 and the steering wheel 902 to allow the device to freely select a fixed carriage when connected to the carriage, thereby improving the applicability of the device. The rotatable steering wheel 902 makes the device more convenient when folded and stored and fixed and installed. The rotating unlocking movable part 915 not only ensures the connection stability between the device and the columnar pin 4, but also makes the device more convenient when dismantled, reducing the workload of workers.

[0035] A method for using a multiple hook robot for cargo loading and unloading, using the multiple hook robot system for cargo loading and unloading as described above, comprises the following steps:

[0036] Step 1. Before the unhooking operation, rotate the two support frames 5 on the mounting plate 1 close to the front vehicle frame 2 until they are in contact with the upper side of the front vehicle frame 2, and use the bidirectional fixing module 9 to fix the support frames 5 to the outside of the columnar pins 4 connected to the front vehicle frame 2, so that the mounting plate 1 can be fixed to the front vehicle frame 2 (overcome the thrust of the second spring 907 to lift the arc-shaped slot 904 from the arc-shaped slot 904, so that the directional latch 905 releases the lock on the notch 903 on the steering wheel 902, and the steering wheel 902 is turned to drive the support frames 5 to rotate, so that the two support frames 5 close to the front vehicle frame 2 are rotated to the top of the columnar pin 4 on the front vehicle frame 2, and the directional latch 905 is released, so that the directional latch 905 is re-engaged with the notch 903, and the support frame 5 no longer rotates, and the fixing pin 913 on the support frame 5 is pulled out, so that the movable frame 910 is in the narrow groove 911, so that the base 909 on the moving frame 910 is located just above the columnar pin 4, the fixing pin 913 is inserted into the moving frame 910 and the fixing pin 913 is inserted into the circular hole 912 at the same time, so that the moving frame 910 is fixed on the narrow groove 911 and no longer moves, the base 909 is aligned with the columnar pin 4 and inserted, and the rotating frame 918 is rotated. The rotating frame 918 overcomes the torsion of the coil spring 2 920 and rotates and makes the curved groove 919 push the short shaft 916 to move the movable member 915 out of the center of the base 909, so that the columnar pin 4 can be completely inserted into the base 909, and the rotating frame 918 is released. Under the torsion of the coil spring 2 920, the movable member 915 is quickly reset, so that the movable member 915 is clamped and fixed with the annular groove 917 on the columnar pin 4, so that the mounting plate 1 is fixed on the front vehicle frame 2, and the two support frames 5 close to the rear vehicle frame 3 are not operated);

[0037] Step 2: Start the steering motor 6, which drives the mechanical arm body 10 connected to the steering seat 7 to turn to the hook on the front vehicle frame 2, so that the mechanical arm body 10 can perform the hook removal operation. After the hook is removed, the unhooking separation module 8 is used to push the disconnected front vehicle frame 2 and the rear vehicle frame 3 away from each other, so that the hooks on the front vehicle frame 2 and the rear vehicle frame 3 are no longer in contact. When the re-hooking operation is required, operate according to the above steps (after fixing the mounting plate 1 with the column on the front vehicle frame 2 After the pin 4 is on, the torsion force of the coil spring 813 is overcome to pull the blocking rod 812 out of the clamping connection of the iron block 814, pushing the locking ring 806, so that the locking ring 806 overcomes the thrust of the spring 809 and slides on the limiting clamp 807 in the direction of the blocking rod 812, so that the arc-shaped rack 808 releases the clamping connection with the outer gear ring 805, and the rotating shaft seat 801 is rotated, so that the rotating shaft seat 801 drives the sleeve 804 connected to the connecting frame 802 and the fixing plate 803 to rotate, so that the support in the sleeve 804 The support column 819 faces the front vehicle frame 2, the locking ring 806 is released, and under the push of the spring 1 809, the locking ring 806 is reset, the arc rack 808 is re-engaged with the outer gear ring 805, the rotating shaft seat 801 stops rotating, the blocking rod 812 is released, the blocking rod 812 is re-engaged with the block 814 and the spring 1 809 stops moving, the driving motor 818 is started, and the driving motor 818 drives the threaded rod 817 to rotate, so that the threaded rod 817 pushes the support column 819 out of the sleeve 8 04 until it contacts the outside of the front vehicle frame 2, the drive motor 818 is turned off, and the air pump 821 is started. The air pump 821 pumps air into the airbag 822, so that the airbag 822 expands and extends from the sleeve 804. After the airbag 822 pushes the contact plate 823 to contact the outside of the rear vehicle frame 3, as the airbag 822 continues to expand, the airbag 822 will push the front vehicle frame 2 and the rear vehicle frame 3 away, thereby completely separating the unlocked hooks on the front vehicle frame 2 and the rear vehicle frame 3).

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multiple hook robot system for cargo handling, comprising a mounting plate (1), characterized in that: A front vehicle frame (2) and a rear vehicle frame (3) are arranged below the mounting plate (1), and four symmetrical support frames (5) are arranged at the bottom of the mounting plate (1), wherein the exteriors of the two support frames (5) close to the front vehicle frame (2) are in contact with the upper side of the front vehicle frame (2), the upper sides of the front vehicle frame (2) and the rear vehicle frame (3) are both fixedly connected with two symmetrical columnar pins (4), and the support frames (5) are each provided with a bidirectional fixing module (9), and the mounting plate ( 1) is provided with a circular opening on the upper side, a steering seat (7) is movably connected in the circular opening, a mechanical arm body (10) is arranged at the bottom of the steering seat (7), a steering motor (6) is fixedly connected to the upper side of the mounting plate (1), an output end of the steering motor (6) is connected to the upper side of the steering seat (7) via a coupling, two symmetrical decoupling and separation modules (8) are arranged on the mounting plate (1), and the decoupling and separation modules (8) are located between the front vehicle frame (2) and the rear vehicle frame (3); The decoupling and separation module (8) comprises two symmetrical rotating shaft seats (801), two symmetrical circular notches are provided on the mounting plate (1), the inner walls of the two circular notches are respectively movably connected to the outside of the two rotating shaft seats (801), the bottom of the rotating shaft seats (801) are fixedly connected to two symmetrical connecting frames (802), the two connecting frames (802) on the same side are fixedly connected to the same fixing plate (803) at one end away from the rotating shaft seats (801), the bottom of the fixing plate (803) are fixedly connected to the sleeve (804), and the outside of the rotating shaft seats (801) are fixedly connected to the outer gear ring (805); The outer part of the outer toothed ring (805) is provided with a locking ring (806), the bottom of the locking ring (806) is slidably connected to the upper side of the mounting plate (1), the outer part of the locking ring (806) is slidably connected to a limiting card (807), the bottom of the limiting card (807) is fixedly connected to the upper side of the mounting plate (1), and the inner wall of the locking ring (806) is fixedly connected to an arc-shaped rack (808), and the arc-shaped rack (808) is clamped to the outer toothed ring (805) on the same side; The limiting card (807) is fixedly connected to a spring 1 (809) on one side away from the rotating shaft seat (801); one end of the spring 1 (809) away from the limiting card (807) is fixedly connected to the inner wall of the locking ring (806) on the same side; two symmetrical mounting seats (810) are fixedly connected to the upper side of the rotating shaft seat (801); a shaft rod (811) is movably connected to the mounting seats (810); a blocking rod (812) is fixedly connected to the outside of the shaft rod (811); an end of the blocking rod (812) away from the mounting seat (810) is clamped with a blocking iron block (814); the side of the blocking iron block (814) opposite to the mounting plate (1) is fixedly connected; and a coil spring 1 (813) is fixedly connected to the outside of the shaft rod (811); one end of the coil spring 1 (813) away from the shaft rod (811) is fixedly connected to the outside of the mounting seat (810) on the same side.

2. A multiple hook robot system for cargo loading and unloading according to claim 1, characterized in that: The inner wall of the sleeve (804) is fixedly connected to a partition plate (815), and the side of the partition plate (815) away from the rear vehicle frame (3) is fixedly connected to a drive motor (818). The output end of the drive motor (818) is connected to a threaded rod (817) via a coupling. The outside of the threaded rod (817) is movably connected to a support plate 1 (816). The outside of the support plate 1 (816) is fixedly connected to the inner wall of the sleeve (804), and the outside of the threaded rod (817) is provided with a support column (819). The outside of the support column (819) is slidably connected to the inner wall of the sleeve (804) on the same side, and the end of the support column (819) away from the sleeve (804) is in contact with one side of the clamping mounting plate (1) of the front vehicle frame (2).

3. A multiple hook robot system for cargo loading and unloading according to claim 2, characterized in that: The side of the partition plate (815) away from the front vehicle frame (2) is fixedly connected to an air pump (821), the inner wall of the sleeve (804) is fixedly connected to a second support plate (820), the side of the second support plate (820) away from the partition plate (815) is fixedly connected to an air bag (822), the output end of the air pump (821) passes through the second support plate (820) on the same side and is connected to the outside of the air bag (822) through a conduit, the outside of the air bag (822) is slidably connected to the inner wall of the sleeve (804) on the same side, the side of the air bag (822) away from the sleeve (804) is fixedly connected to a contact plate (823), the outside of the sleeve (804) is fixedly connected to two symmetrical bosses, the bosses are slidably connected to guide rods (824), and the ends of the guide rods (824) away from the sleeve (804) are fixedly connected to the outside of the contact plate (823) of the set.

4. A multiple hook robot system for cargo loading and unloading according to claim 1, characterized in that: The bidirectional fixing module (9) comprises four symmetrical vertical shafts (901), the mounting plate (1) is provided with four symmetrical openings, the inner walls of the openings are movably connected to the outside of the vertical shafts (901), the outside of the vertical shafts (901) are fixedly connected to steering wheels (902), the steering wheels (902) are located below the mounting plate (1), the outside of the steering wheels (902) are fixedly connected to the outside of the support frame (5) on the same side, and the outside of the vertical shafts (901) are provided with directional latches (905), the outside of the openings are provided with two symmetrical arc-shaped slots (904), the arc-shaped slots (904) are located on the mounting plate (1), the outside of the directional latches (905) are slidably connected to the inner walls of the arc-shaped slots (904), and the outside of the steering wheels (902) are provided with notches (903), the inner walls of the notches (903) are engaged with the outside of the directional latches (905) on the same side.

5. A multiple hook robot system for cargo loading and unloading according to claim 4, characterized in that: The support frames (5) are provided with a receiving groove (908), the receiving groove (908) is slidably connected to a base (909), the outside of the base (909) is fixedly connected to a moving frame (910), and the support frames (5) are provided with a narrow groove (911), the inner wall of the narrow groove (911) is slidably connected to the outside of the moving frame (910) on the same side, and the support frames (5) are provided with a plurality of mutually symmetrical circular holes (912), and the moving frame (910) is provided with two symmetrical narrow openings, the narrow holes are plugged with fixing pins (913), and the outside of the fixing pins (913) is plugged into the circular holes (912) on the support frame (5).

6. A multiple hook robot system for cargo loading and unloading according to claim 5, characterized in that: The upper side of the base (909) is provided with a groove (914), and a movable part (915) is slidably connected in the groove (914). The columnar pin (4) is provided with an annular groove (917). The exteriors of the two columnar pins (4) on the front vehicle frame (2) are respectively slidably connected to the inner walls of the two bases (909). The exteriors of the movable parts (915) on the two bases (909) close to the front vehicle frame (2) are clamped to the inner walls of the annular groove (917) on the same side, and the movable parts (915) are connected to the inner walls of the annular groove (917) on the same side. The upper side of each of the bases (909) is fixedly connected to a short shaft (916), the upper side of each of the bases (909) is movably connected to a rotating frame (918), a curved groove (919) is provided on the rotating frame (918), the inner wall of the curved groove (919) is slidably connected to the outside of the short shaft (916), the inner wall of the rotating frame (918) is fixedly connected to a second coil spring (920), and one end of the second coil spring (920) away from the rotating frame (918) is fixedly connected to the upper side of the base (909) on the same side.

7. A method for using a multiple hook robot for cargo handling, using the multiple hook robot system for cargo handling as claimed in claim 6, characterized in that: The steps include: Step 1: Before the unhooking operation is performed, the two support frames (5) on the mounting plate (1) close to the front vehicle frame (2) are rotated to fit the upper side of the front vehicle frame (2), and then the support frames (5) are fixed to the outside of the columnar pins (4) connected to the front vehicle frame (2) using a bidirectional fixing module (9), so that the mounting plate (1) can be fixed to the front vehicle frame (2); Step 2: Start the steering motor (6), the steering motor (6) drives the mechanical arm body (10) connected to the steering seat (7) to turn to the hook on the front vehicle frame (2), so that the mechanical arm body (10) can perform the hook removal operation. After the hook is removed, the unhooking module (8) is used to push the disconnected front vehicle frame (2) and the rear vehicle frame (3) away from each other, so that the hooks on the front vehicle frame (2) and the rear vehicle frame (3) are no longer in contact. When a re-hooking operation is required, the operation is performed in the above-mentioned steps.

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