Loading and unloading all-in-one machine

Abstract

The invention relates to loading and unloading equipment in the mechanical field, in particular to a loading and unloading all-in-one machine which comprises a base plate, a walking mechanism, a taking and placing driving assembly and a taking and placing assembly. The base plate is connected to the walking mechanism so that the walking mechanism can drive the base plate to walk. The pick-and-place driving assembly is mounted on the base plate; the taking and placing assembly comprises a multi-stage oil cylinder and a winch, a cylinder body of the multi-stage oil cylinder is rotationally connected to the base plate through a first rotating shaft, the taking and placing driving assembly is connected between the base plate and the first rotating shaft so as to be used for driving the multi-stage oil cylinder to rotate along the base plate, the first rotating shaft is arranged perpendicular to the first direction X, and the winch is arranged in the first direction X; the telescopic direction of the multi-stage oil cylinder is perpendicular to the first rotating shaft; and the winch is connected to a piston rod of the multi-stage oil cylinder. The loading and unloading device has the effect of carrying and loading and unloading goods in multiple directions.

Description

Technical Field

[0001] The present application relates to the field of loading and unloading equipment in the mechanical field, and in particular to an integrated loading and unloading machine. Background Art

[0002] All-in-one loading and unloading machines are widely used in logistics, warehousing and other industries. Their main function is to achieve efficient handling and loading and unloading of goods. With the continuous development of automation technology, all-in-one loading and unloading machines play an important role in improving production efficiency and reducing labor intensity.

[0003] Common integrated loading and unloading machines mainly include baseplates, travel mechanisms, and pick-and-place components. The baseplate is usually the basic platform of the entire device, carrying various functional modules; the travel mechanism is responsible for driving the baseplate to move and realize the overall movement of the device; and the pick-and-place components are used to grab and release materials. Specifically, the travel mechanism can be a wheeled or tracked design, driven by an electric motor or other power source; the pick-and-place components are structures such as hydraulic cylinders and air cylinders fixed on the baseplate.

[0004] However, structures such as hydraulic steel and cylinders fixedly connected to the base plate will limit the range of motion of the pick-and-place components and cannot meet the needs of long-distance or multi-directional material handling. Therefore, providing a multi-directional loading and unloading machine is an urgent problem to be solved. Summary of the invention

[0005] In order to transport and load and unload goods in all directions, the present application provides an all-in-one loading and unloading machine.

[0006] The present application provides a loading and unloading integrated machine adopting the following technical solution: A loading and unloading integrated machine, comprising: substrate; A walking mechanism, the base plate is connected to the walking mechanism, so that the base plate is driven to walk by the walking mechanism; a pick-and-place drive assembly, the pick-and-place drive assembly being mounted on the substrate; and A pick-and-place assembly, the pick-and-place assembly comprising: A multi-stage oil cylinder, wherein the cylinder body of the multi-stage oil cylinder is rotatably connected to the base plate via a first rotating shaft, the pick-and-place drive assembly is connected between the base plate and the first rotating shaft to drive the multi-stage oil cylinder to rotate along the base plate, the first rotating shaft is arranged perpendicular to the first direction X, and the extension and retraction direction of the multi-stage oil cylinder is perpendicular to the first rotating shaft; and A winch is connected to the piston rod of the multi-stage oil cylinder.

[0007] By adopting the above technical scheme, the base plate is connected to the walking mechanism, which ensures the overall mobility of the equipment; the pick-and-place drive assembly is installed on the base plate, which can accurately control the rotation of the multi-stage cylinder, thereby improving the positioning accuracy and flexibility of the pick-and-place assembly; the cylinder body of the multi-stage cylinder is rotatably connected to the base plate through the first rotating shaft, so that the multi-stage cylinder can work at different angles, thereby increasing the operating range; the telescopic direction of the multi-stage cylinder is perpendicular to the first rotating shaft, so that the winch can move in the vertical direction to adapt to different operating height requirements, so as to realize multi-angle and multi-directional handling requirements; the winch is connected to the piston rod of the multi-stage cylinder, thereby realizing the lifting and lowering operations of the goods, thereby improving the loading and unloading efficiency and safety.

[0008] Optionally, the pick-and-place drive assembly includes: a first mounting seat, wherein the first mounting seat is fixedly connected to the base plate, and the first rotating shaft is rotatably connected to the first mounting seat; The first mounting seat is rotatably connected to the base plate via a second rotating shaft, and the second rotating shaft is parallel to the first direction X.

[0009] By adopting the above technical solution, the first rotating shaft is rotatably connected to the first mounting seat, so that the multi-stage oil cylinder can rotate around the first rotating shaft, thereby realizing the vertical movement of the winch; at the same time, the first mounting seat is rotatably connected to the base plate through the second rotating shaft, and the second rotating shaft is parallel to the first direction X, so that the first mounting seat can rotate around the second rotating shaft, thereby realizing the horizontal movement of the winch. This design not only improves the flexibility of the winch, but also expands its operating range, enabling it to perform pick-and-place operations in more locations.

[0010] Optionally, the walking mechanism includes: A central rotating shaft, the central rotating shaft is connected to the base plate and rotates around a first axis, and the first axis is parallel to the second direction Y; Traveling wheels, to which corresponding traveling wheels are coaxially connected at both ends of the central rotating shaft; and A rotation driving assembly is connected between the central rotating shaft and the base plate to drive the central rotating shaft to rotate along the base plate.

[0011] By adopting the above technical solution, the walking wheels on both sides are driven to rotate synchronously by the central rotating shaft, so that the walking mechanism can move smoothly.

[0012] Optionally, the rotation drive assembly includes: A second bevel gear, the second bevel gear is coaxially fixedly connected to the central rotating shaft; A first bevel gear, wherein the central axis of the first bevel gear is perpendicular to the central axis of the second bevel gear; the second bevel gear is meshed with the first bevel gear; A third motor is connected between the base plate and the first bevel gear to drive the first bevel gear to rotate around the axis of the first bevel gear.

[0013] By adopting the above technical solution, the third motor drives the first bevel gear to rotate, and the first bevel gear drives the second bevel gear and the central shaft to rotate synchronously; through the meshing of the second bevel gear and the first bevel gear, the third motor can accurately control the rotation of the central shaft, and then control the movement of the walking wheel, thereby improving the flexibility and controllability of the walking mechanism.

[0014] Optionally, it also includes a length adjustable device, wherein both ends of the central shaft are connected to the walking wheel through the length adjustable device, the end of the length adjustable device is fixedly connected to the central shaft, and the extension direction of the length adjustable device is parallel to the second direction Y.

[0015] By adopting the above technical solution, the distance between the two traveling wheels can be flexibly adjusted, so that the loading and unloading machine can adapt to roads or working environments of different widths, thereby improving the flexibility and applicability of the equipment; at the same time, by adjusting the distance between the traveling wheels, the overall width of the equipment can be reduced in a small space to avoid the occurrence of jamming, while in open areas, the support area of ​​the chassis can be increased to improve driving stability and safety.

[0016] Optionally, the length-adjustable device includes a retractable component, and the retractable component includes: A fixing rod, the fixing rod is fixedly connected to the central rotating shaft, and a sliding groove is provided in the fixing rod; and A sliding rod, one end of which is connected to the walking wheel, and the other end of which is inserted into the sliding groove along the second direction Y and can move along the second direction Y in the sliding groove; The outer wall of the sliding rod is provided with a limiting groove along the second direction Y; A limiting strip is convexly provided on the inner peripheral wall of the fixing rod, and the limiting strip is adapted to be located in the limiting groove, and the limiting strip can move relatively along the second direction Y in the limiting groove.

[0017] By adopting the above technical solution, the function of adjusting the distance between the running wheels in the horizontal direction is realized. Specifically, the fixed rod is fixedly connected to the central rotating shaft, the sliding rod is connected to the running wheel, and the sliding rod can move in the sliding groove in the fixed rod along the second direction Y, thereby changing the distance between the running wheel and the fixed rod; at the same time, the limit groove on the outer peripheral wall of the sliding rod matches the limit strip on the inner peripheral wall of the fixed rod, which not only ensures the linear movement of the sliding rod, but also prevents the sliding rod from rotating relative to the fixed rod during the sliding process, thereby improving the stability and reliability of the structure.

[0018] Optionally, the length-adjustable component further includes a length-driving component, and the length-driving component includes: A first linear driving member, wherein a driving direction of the first linear driving member is parallel to the second direction Y; a sliding sleeve, one end of which is fixedly connected to the base plate, and the other end of which is fixedly connected to the sliding sleeve, so as to drive the sliding sleeve to move along the second direction Y; and A bearing, wherein the bearing is coaxially arranged with the central rotating shaft, the outer ring of the bearing is fixedly connected with the sliding sleeve, and the inner ring of the bearing is fixedly connected with the sliding rod.

[0019] By adopting the above technical solution, the first linear drive component can provide a stable push-pull force, so that the sliding rod can move smoothly along the sliding groove in the fixed rod, while ensuring a reliable connection between the sliding rod and the fixed rod; the bearing design not only allows the sliding rod to remain smooth during the sliding process, but also ensures that the sliding rod rotates synchronously with the center shaft, thereby not affecting the normal operation of the walking wheel, thereby improving the adaptability and flexibility of the equipment.

[0020] Optionally, the auxiliary support frame includes: a first support rod; and A second support rod, wherein the second support rod is parallel to the second direction Y, one end of the second support rod is fixedly connected to the first support rod, and the other end of the second support rod is plugged into the base plate and can move along the base plate in the second direction Y; There are a plurality of second support rods, and the plurality of second support rods are distributed in the third direction Z at intervals.

[0021] By adopting the above technical solution, the design of the first support rod and multiple second support rods of the auxiliary support frame allows the auxiliary support frame to extend out of the base plate when needed, thereby increasing the support area of ​​the entire device.

[0022] Optionally, a connecting frame is further included, one end of which is fixedly connected to the base plate, and the other end of which is fixedly connected to the sliding sleeve.

[0023] By adopting the above technical solution, the setting of the connecting frame allows a stable connection structure to be formed between the sliding sleeve and the base plate, which facilitates the auxiliary support frame to move synchronously with the walking wheel in the second direction Y.

[0024] Optionally, it also includes a containing box fixedly connected to the base plate.

[0025] By adopting the above technical solution, the storage box is fixedly connected to the base plate, so that the loading and unloading machine can carry goods or tools during the movement, thereby improving the practicality of the equipment; at the same time, the design of the storage box also increases the functionality of the equipment, so that it not only has the walking function, but also can complete the transportation and storage of goods, thereby improving the overall work efficiency.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. This application can adapt to different operating height requirements to achieve multi-angle and multi-directional handling needs; 2. The present application can flexibly adjust the distance between the two traveling wheels, so that the loading and unloading machine can adapt to roads or working environments of different widths, thereby improving the flexibility and scope of application of the equipment; 3. By setting up an auxiliary support frame, the support area of ​​the entire equipment can be increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 It is a structural schematic diagram of a pick-and-place drive assembly in an embodiment of the present application; Figure 3 It is a structural schematic diagram of the walking mechanism in the embodiment of the present application; Figure 4 is a schematic structural diagram of a rotation drive assembly in an embodiment of the present application; Figure 5 It is a schematic diagram of the structure of the length adjustable device in an embodiment of the present application; Figure 6 It is a schematic diagram of the structure of the length drive assembly in the embodiment of the present application; Figure 7 It is a schematic diagram of the structure of the top support assembly and the auxiliary support frame in the embodiment of the present application.

[0028] Description of the accompanying drawings: 1. Base plate; 11. Container; 2. Traveling mechanism; 21. Connecting rod; 22. Mounting sleeve; 23. Central shaft; 24. Traveling wheel; 25. Rotation drive assembly; 251. Third mounting seat; 252. Drive shaft; 253. Third motor; 254. First bevel gear; 255. Second bevel gear; 3. Pick-up and place assembly; 31. Multi-stage oil cylinder; 32. Winch; 4. Pick-up and place drive assembly; 41. First mounting seat; 42. First motor; 43. First shaft; 44. Second mounting seat; 45. Second Motor; 46, second rotating shaft; 5, length adjustable device; 51, telescopic component; 511, fixing rod; 5111, limiting groove; 5112, sliding groove; 512, sliding rod; 5121, limiting strip; 52, length driving assembly; 521, second mounting frame; 522, first linear driving member; 523, third mounting frame; 524, sliding sleeve; 525, bearing; 6, top support assembly; 61, jack; 62, top support plate; 7, auxiliary support frame; 71, first support rod; 72, second support rod; 8, connecting frame. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-7 The present application is further described in detail. For the convenience of description, the present application introduces directional words such as a first direction X, a second direction Y, and a third direction Z to form a three-dimensional reference direction. The directional words used, such as "a first direction X, a second direction Y, and a third direction Z", can be specifically shown with reference to the figure, wherein X represents the first direction X, Y represents the second direction Y, and Z represents the third direction Z, and the first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0030] The present application embodiment discloses a loading and unloading integrated machine. Figure 1 and Figure 2 The loading and unloading integrated machine includes a base plate 1, a walking mechanism 2 installed on the base plate 1, a containing box 11 fixedly connected to the base plate 1, a pick-and-place assembly 3 installed on the base plate 1, and a pick-and-place driving assembly 4 installed between the pick-and-place assembly 3 and the base plate 1; In the present disclosure, the board surface of the substrate 1 is perpendicular to the first direction X, and the walking mechanism 2 is used to drive the substrate 1 to walk. In order to improve the walking stability, the walking mechanism 2 can also be distributed in multiple in the walking direction, and the containing box 11 is located in front of the walking mechanism 2 in the forward direction; the pick-and-place assembly 3 includes a multi-stage oil cylinder 31 and a winch 32, the cylinder body of the multi-stage oil cylinder 31 is connected to the substrate 1 through the pick-and-place drive assembly 4, and the piston rod of the multi-stage oil cylinder 31 is fixedly connected to the casing of the winch 32, so that the multi-stage oil cylinder 31 drives the winch 32 to move; The pick-and-place drive assembly 4 includes a first mounting seat 41 and a first motor 42; the first mounting seat 41 is connected to the base plate 1, and the cylinder body of the multi-stage oil cylinder 31 is rotatably connected to the first mounting seat 41 through a first rotating shaft 43, the axis of the first rotating shaft 43 is perpendicular to the first direction X, and the telescopic direction of the multi-stage oil cylinder 31 is perpendicular to the first rotating shaft 43; the first motor 42 is a servo motor, the housing of the first motor 42 is fixedly connected to the first mounting seat 41, and the output shaft of the first motor 42 is coaxially fixedly connected to the first rotating shaft 43, so that the multi-stage oil cylinder 31 is driven to rotate by the first motor 42, and when the first direction X is a vertical direction, the winch 32 can be driven by the multi-stage oil cylinder 31 to move in the vertical direction; In order to drive the winch 32 to move to more positions, in some embodiments of the present application, the pick-and-place drive assembly 4 also includes a second mounting seat 44 and a second motor 45; the second mounting seat 44 is fixedly connected to the substrate 1, and the first mounting seat 41 is rotatably connected to the second mounting seat 45 through the second rotating shaft 46. The second motor 45 is a servo motor, and the housing of the second motor 45 is fixedly connected to the substrate 1. The output shaft of the second motor 45 is coaxially fixedly connected to the second rotating shaft 46. The first mounting seat 41 can be driven by the second motor 45 to rotate around the second rotating shaft 46, and the pick-and-place assembly 3 installed on the first mounting seat 41 will rotate synchronously. The second rotating shaft 46 is parallel to the first direction X, so that the pick-and-place assembly 3 can be moved in the horizontal direction.

[0031] Reference Figure 3 , when the first direction X is a vertical direction, the walking mechanism 2 is located below the base plate 1, and the walking mechanism 2 includes a connecting rod 21, a mounting sleeve 22, a central shaft 23, a walking wheel 24, and a rotation drive assembly 25; The connecting rod 21 is fixedly connected to the base plate 1, the mounting sleeve 22 is fixedly connected to the connecting rod 21, the length direction of the mounting sleeve 22 is parallel to the second direction Y, the central rotating shaft 23 is passed through the mounting sleeve 22 along the second direction Y, and can rotate around the first axis in the mounting sleeve 22, and the first axis is parallel to the second direction Y; The two ends of the central shaft 23 are coaxially connected with corresponding walking wheels 24, that is, in the second direction Y, the central shaft 23 is located between the walking wheels 24 at both ends. When the central shaft 23 rotates around the first axis, it will drive the walking wheels 24 to rotate, and the walking mechanism 2 can drive the substrate 1 forward.

[0032] Reference Figure 4 and Figure 5 The rotation driving assembly 25 is connected between the base plate 1 and the central rotating shaft 23 to drive the central rotating shaft 23 to rotate along the base plate 1; specifically, the rotation driving assembly 25 includes a third mounting seat 251, a driving shaft 252, a third motor 253, a first bevel gear 254 and a second bevel gear 255; The third mounting seat 251 is fixedly connected to the substrate 1, and the driving shaft 252 is arranged parallel to the third direction Z. The driving shaft 252 is connected to the third mounting seat 251 by rotating around its own central axis; the third motor 253 is connected between the third mounting seat 251 and the driving shaft 252, and is used to drive the driving shaft 252 to rotate along the third mounting seat 251. Specifically, the third motor 253 is a servo motor, and the housing of the third motor 253 is fixedly connected to the third mounting seat 251. The output shaft of the third motor 253 is coaxially fixedly connected to the driving shaft 252, so that the driving shaft 252 is driven to rotate by the third motor 253; The first bevel gear 254 and the second bevel gear 255 are both 45° helical gears. The first bevel gear 254 is coaxially fixedly connected to the drive shaft 252, and the second bevel gear 255 is coaxially fixedly connected to the central rotating shaft 23. The first bevel gear 254 and the second bevel gear 255 are meshed, and the third motor 253 can drive the drive shaft 252 to rotate, so that the first bevel gear 254 rotates synchronously with the drive shaft 252, and then the first bevel gear 254 drives the second bevel gear 255 and the central rotating shaft 23 to rotate synchronously, which can drive the walking wheel 24 to rotate.

[0033] Reference Figure 5 and Figure 6 In order to change the spacing between the running wheels 24 at both ends in the first direction X, in some embodiments of the present application, a length adjustable device 5 is further included, and the two ends of the central shaft 23 are respectively connected to the running wheels 24 through a length adjustable device 5, so that the length adjustable device 5 rotates synchronously with the central shaft 23 around the first axis; specifically, one end of the length adjustable device 5 is connected to the running wheel 24, and the other end is connected to the central shaft 23, so that the central shaft 23 drives the running wheel 24 to rotate by driving the length adjustable device 5; The length adjustable device 5 comprises a telescopic component 51 and a length driving component 52 for controlling the length of the telescopic component 51; The retractable component 51 includes a fixed rod 511 and a sliding rod 512. The fixed rod 511 and the sliding rod 512 are both parallel to the second direction Y. The fixed rod 511 is fixedly connected to the central shaft 23. The sliding rod 512 is fixedly connected to the running wheel 24. The sliding rod 512 is linearly slidably connected to the fixed rod 511 along the second direction Y to change the distance between the running wheel 24 and the fixed rod 511 in the second direction Y. The fixed rod 511 is provided with a sliding groove 5112 along the second direction Y. The fixed rod 511 is penetrated in the sliding groove 5112 and can slide in the sliding groove 5112 along the second direction Y. In the present disclosure, the sliding rod 512 is cylindrical and coaxial with the central shaft 23. In order to prevent the sliding rod 512 from rotating relative to the fixed rod 511, a limiting groove 5111 is provided on the peripheral wall of the sliding rod 512 along the second direction Y. The fixed rod 511 is provided with a limiting strip 5121 protruding from the inner wall of the limiting groove 5111. The limiting strip 5121 is adapted to be located in the limiting groove 5111 to guide the sliding process of the sliding rod 512 while preventing the sliding rod 512 from rotating relative to the fixed rod 511. The length driving assembly 52 includes a second mounting frame 521, a first linear driving member 522, a third mounting frame 523, a sliding sleeve 524 and a bearing 525; The second mounting frame 521 is fixedly connected to the base plate 1, the driving direction of the first linear driving member 522 is parallel to the second direction Y, and the first linear driving member 522 is connected between the second mounting frame 521 and the sliding rod 512, so that the first linear driving member 522 drives the sliding rod 512 to slide along the second direction Y; in the present disclosure, the first linear driving member 522 is a hydraulic cylinder, specifically, the cylinder body of the first linear driving member 522 is fixedly connected to the second mounting frame 521, the piston rod of the first linear driving member 522 is fixedly connected to the third mounting frame 523, and the sliding sleeve 524 is fixedly connected to the third mounting frame 523; The bearing 525 is sleeved in the sliding sleeve 524, and the outer ring of the bearing 525 is fixedly connected to the inner wall of the sliding sleeve 524 by an interference fit; the sliding rod 512 is penetrated through the inner ring of the bearing 525 along the second direction Y, and the sliding rod 512 is fixedly connected to the inner wall of the inner ring of the bearing 525 by an interference fit, so that the sliding rod 512 can move along the second direction Y with the sliding sleeve 524, and can also rotate around the first axis along the sliding sleeve 524; when it is necessary to adjust the distance between the two walking wheels 24, it is only necessary to move the third mounting frame 523 along the second direction Y by the first linear drive member 522 to change the distance between the two walking wheels 24 in the second direction Y.

[0034] Reference Figure 7 In order to facilitate the movement of the traveling wheel 24 along the second direction Y, in some embodiments of the present application, a supporting assembly 6 is further included, and the supporting assembly 6 includes a jack 61 and a supporting plate 62; The top support plate 62 is located on the side of the central rotating shaft 23 away from the base plate 1, and the top support plate 62 is arranged perpendicular to the first direction X. One end of the jack 61 is fixedly connected to the top support plate 62, and the other end is fixedly connected to the mounting sleeve 22 on the outer periphery of the central rotating shaft 23; when the jack 61 is adjusted to the maximum stroke, the walking wheel 24 is located on the side of the top support plate 62 close to the base plate 1, that is, the walking wheel 24 can be separated from the ground, so that the distance between the walking wheels 24 can be adjusted; when the jack 61 is adjusted to the shortest stroke, the top support plate 62 is located on the side of the base plate 1 where the end of the walking wheel 24 contacts the ground, that is, the walking wheel 24 contacts the ground, and the top support plate 62 is separated from the ground, so that the walking wheel 24 can move forward along the ground.

[0035] Reference Figure 6 and Figure 7 In some embodiments of the present application, an auxiliary support frame 7 is further included. The auxiliary support frame 7 includes a first support rod 71 arranged parallel to the third direction Z and a plurality of second support rods 72 arranged parallel to the second direction Y. The plurality of second support rods 72 are arranged at intervals in the third direction Z. One end of the second support rod 72 is fixedly connected to the first support rod 71, and the other end is passed through the base plate 1, and can move along the third direction Z on the base plate 1. After the auxiliary support frame 7 is slid out along the base plate 1, the support area can be increased, and more goods can be placed on the base plate 1 and the auxiliary support frame 7; In order to further increase the supporting area, an auxiliary support frame 7 is correspondingly provided on both sides of the substrate 1 in the third direction Z, that is, in the second direction Y, the substrate 1 is located between the two auxiliary support frames 7; In some embodiments of the present application, each auxiliary support frame 7 is correspondingly connected to a connecting frame body 8, one end of the connecting frame body 8 is fixedly connected to the auxiliary support frame 7, and the other end is fixedly connected to the third mounting frame 523. Specifically, the connecting frame body 8 is fixed to the auxiliary support frame 7 and the third mounting frame 523 by screws to achieve the detachable connection frame from the auxiliary support frame 7 and the third mounting frame 523.

[0036] The implementation principle of the loading and unloading integrated machine of the embodiment of the present application is as follows: a holding box 11 of a required model is installed on a substrate 1, and when the walking mechanism 2 drives the substrate 1 forward, the holding box 11 moves forward synchronously with the substrate 1; If the walking mechanism 2 needs to pass through an area with a narrow width, the first linear drive member 522 will drive the walking wheel 24 to move to change the distance between the two walking wheels 24. The walking wheel 24 will also drive the auxiliary support frame 7 to move to change the overall width of the loading and unloading machine. After the loading and unloading machine is in place, the width can be increased to increase the chassis area and improve the stability of the equipment.

[0037] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A loading and unloading machine, characterized in that: include: base(1); A walking mechanism (2), the base plate (1) being connected to the walking mechanism (2) so that the base plate (1) is driven by the walking mechanism (2) to walk; A pick-and-place drive component (4), wherein the pick-and-place drive component (4) is mounted on the substrate (1); as well as A pick-and-place assembly (3), the pick-and-place assembly (3) comprising: A multi-stage oil cylinder (31), wherein the cylinder body of the multi-stage oil cylinder (31) is rotatably connected to the base plate (1) via a first rotating shaft (43), the pick-and-place drive assembly (4) is connected between the base plate (1) and the first rotating shaft (43) to drive the multi-stage oil cylinder (31) to rotate along the base plate (1), the first rotating shaft (43) is arranged perpendicular to a first direction X, and the extension and retraction direction of the multi-stage oil cylinder (31) is perpendicular to the first rotating shaft (43); and A hoist (32), wherein the hoist (32) is connected to the piston rod of the multi-stage oil cylinder (31).

2. The loading and unloading integrated machine according to claim 1, characterized in that: The pick-and-place drive assembly (4) comprises: A first mounting seat (41), wherein the first mounting seat (41) is fixedly connected to the base plate (1), and the first rotating shaft (43) is rotatably connected to the first mounting seat (41); The first mounting seat (41) is rotatably connected to the base plate (1) via a second rotating shaft (46), and the second rotating shaft (46) is parallel to the first direction X.

3. The loading and unloading integrated machine according to claim 2, characterized in that: The walking mechanism (2) comprises: A central rotating shaft (23), the central rotating shaft (23) is connected to the base plate (1) so as to rotate around a first axis, and the first axis is parallel to the second direction Y; Traveling wheels (24), the two ends of the central rotating shaft (23) are coaxially connected to the corresponding traveling wheels (24); and A rotation driving assembly (25), wherein the rotation driving assembly (25) is connected between the central rotating shaft (23) and the base plate (1) to drive the central rotating shaft (23) to rotate along the base plate (1).

4. The loading and unloading integrated machine according to claim 3, characterized in that: The rotation drive assembly (25) comprises: A second bevel gear (255), the second bevel gear (255) being coaxially fixedly connected to the central rotating shaft (23); A first bevel gear (254), wherein the central axis of the first bevel gear (254) is perpendicular to the central axis of the second bevel gear (255); the second bevel gear (255) is meshed with the first bevel gear (254); A third motor (253), the third motor (253) is connected between the base plate (1) and the first bevel gear (254), and is used to drive the first bevel gear (254) to rotate around the axis of the first bevel gear (254).

5. The loading and unloading integrated machine according to any one of claims 3 to 4, characterized in that: It also includes a length adjustable device (5), wherein both ends of the central rotating shaft (23) are connected to the walking wheel (24) through the length adjustable device (5), the end of the length adjustable device (5) is fixedly connected to the central rotating shaft (23), and the telescopic direction of the length adjustable device (5) is parallel to the second direction Y.

6. The loading and unloading integrated machine according to claim 5, characterized in that: The length-adjustable device (5) comprises a retractable component (51), and the retractable component (51) comprises: A fixed rod (511), the fixed rod (511) is fixedly connected to the central rotating shaft (23), and a sliding groove (5112) is provided in the fixed rod (511); and A sliding rod (512), one end of the sliding rod (512) is connected to the walking wheel (24), and the other end is inserted into the sliding groove (5112) along the second direction Y and can move along the second direction Y in the sliding groove (5112); The outer peripheral wall of the sliding rod (512) is provided with a limiting groove (5111) along the second direction Y; A limiting strip (5121) is convexly provided on the inner peripheral wall of the fixing rod (511), and the limiting strip (5121) is adapted to be located in the limiting groove (5111), and the limiting strip (5121) can move relatively along the second direction Y in the limiting groove (5111).

7. The loading and unloading integrated machine according to claim 6, characterized in that: The adjustable length assembly further comprises a length driving assembly (52), wherein the length driving assembly (52) comprises: A first linear driving member (522), wherein a driving direction of the first linear driving member (522) is parallel to the second direction Y; a sliding sleeve (524), one end of the sliding sleeve (524) being fixedly connected to the base plate (1), and the other end of the sliding sleeve (524) being fixedly connected to the sliding sleeve (524), so as to drive the sliding sleeve (524) to move along the second direction Y; and A bearing (525), wherein the bearing (525) is coaxially arranged with the central rotating shaft (23), the outer ring of the bearing (525) is fixedly connected to the sliding sleeve (524), and the inner ring of the bearing (525) is fixedly connected to the sliding rod (512).

8. The loading and unloading integrated machine according to claim 7, characterized in that: It also includes an auxiliary support frame, wherein the auxiliary support frame (7) includes: a first support rod (71); and a second support rod (72), the second support rod (72) being parallel to the second direction Y, one end of the second support rod (72) being fixedly connected to the first support rod (71), and the other end of the second support rod (72) being plugged into the base plate (1), and being able to move along the base plate (1) in the second direction Y; A plurality of the second support rods (72) are provided, and the plurality of the second support rods (72) are distributed at intervals in the third direction Z.

9. The loading and unloading integrated machine according to claim 8, characterized in that: It also comprises a connecting frame (8), one end of the connecting frame (8) being fixedly connected to the base plate (1), and the other end of the connecting frame (8) being fixedly connected to the sliding sleeve (524).

10. The loading and unloading integrated machine according to any one of claims 1 to 4, characterized in that: It also includes a storage box (11) fixedly connected to the base plate (1).

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