Loading and unloading system and loading and unloading method

Abstract

The present invention discloses a loading and unloading system and a loading and unloading method thereof, wherein the loading and unloading system comprises a fixed frame; a transmission mechanism comprises a rotating support, a lifting drive, and a belt transmission assembly; the rotating support is mounted on the fixed frame to drive the belt transmission assembly to swing left and right along the fixed frame; the belt transmission assembly is arranged along the front-to-back direction, one end of which is pivotally connected to the rotating support, and the other end can swing up and down under the action of the lifting drive; a walking mechanism is mounted on the fixed frame to move the loading and unloading system; the walking mechanism comprises a front wheel lifting drive unit, a rear wheel lifting drive unit, a front wheel assembly, and a rear wheel assembly, wherein the front wheel assembly and the rear wheel assembly are arranged along the front-to-back direction, the front wheel lifting drive unit is used to drive the front wheel assembly to lift and move, and the rear wheel lifting drive unit is used to drive the rear wheel assembly to lift and move. The present invention not only improves the transmission stability, but also can enter the interior of the carriage, thereby improving the convenience of cargo handling inside the carriage.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transportation equipment, and in particular to a loading and unloading system and a loading and unloading method. Background Art

[0002] In the logistics and transportation industry, especially in railway freight yards, platforms, warehouses, truck compartments, containers and other transshipment and loading and unloading occasions, loaders are often used to carry goods. In actual applications, due to the large internal space of truck compartments, containers and containers, goods are mostly stacked. Therefore, the conveying part of the loader also needs to move back and forth in the height, width and depth of the compartment, and the moving stability of the conveying part directly affects the handling efficiency of the goods. In addition, the existing loaders need to use additional tools or accessories to enter the interior of the compartment, which makes the handling of goods in the compartment more troublesome. Summary of the invention

[0003] In order to overcome the above-mentioned shortcomings, the purpose of the present invention is to provide a loading and unloading system and a loading and unloading method, which not only improves the transmission stability, but also can enter the interior of the carriage, thereby improving the convenience of cargo handling inside the carriage.

[0004] In order to achieve the above purpose, one of the technical solutions adopted by the present invention is: a loading and unloading system, comprising

[0005] Fixed rack;

[0006] The transmission mechanism comprises a rotating support, a lifting drive, and a belt transmission assembly; the rotating support is mounted on the fixed frame to drive the belt transmission assembly to swing left and right along the fixed frame; the belt transmission assembly is arranged in the front-back direction, one end of which is pivotally connected to the rotating support, and the other end can swing up and down under the action of the lifting drive;

[0007] A walking mechanism is installed on the fixed frame and is used for the walking movement of the loading and unloading system; the walking mechanism includes a front wheel lifting drive unit, a rear wheel lifting drive unit, a front wheel assembly, and a rear wheel assembly, and the front wheel assembly and the rear wheel assembly are arranged along the front and rear directions. The front wheel lifting drive unit is used to drive the front wheel assembly to move up and down, and the rear wheel lifting drive unit is used to drive the rear wheel assembly to move up and down.

[0008] The beneficial effects of the loading and unloading system of the present invention are:

[0009] In the conveying mechanism, the setting of the rotating support can drive the belt conveying assembly to swing left and right, realize the reciprocating movement of the belt conveying assembly in the width direction of the car, so as to facilitate the loading and unloading of goods at multiple positions in the width direction of the car; at the same time, the setting of the rotating support can provide a certain supporting force in the process of the belt conveying assembly swinging up and down, so as to improve the stability of the belt conveying assembly swinging up and down; the setting of the lifting drive member can drive the belt conveying assembly to swing up and down, so as to facilitate the loading and unloading of goods at multiple positions in the height direction of the car; the setting of the belt conveying assembly realizes the transmission of goods in the depth direction of the car, so as to facilitate the delivery of goods to the designated loading and unloading position; in the walking mechanism, the stability of the loading and unloading system is guaranteed by the cooperation of the front wheel assembly and the rear wheel assembly; and the independent lifting and lowering of the front wheel assembly and the rear wheel assembly are realized by the setting of the front wheel lifting drive unit and the rear wheel lifting drive unit, which is conducive to the change of the height position of the front wheel assembly and the rear wheel assembly, so as to facilitate the loading and unloading system to enter the interior of the car and improve the convenience of cargo handling in the car.

[0010] The loading and unloading system of the present invention can independently lift the front wheel assembly and the rear wheel assembly of the walking mechanism to compensate for the height difference between the loading and unloading system and the carriage, so that the loading and unloading system can smoothly enter the carriage to load and unload goods; at the same time, through the cooperation of the rotating support member and the lifting drive member, the belt transmission assembly can be moved in the height and width directions of the carriage, which is beneficial to the loading and unloading of goods at different widths and heights of the carriage, thereby improving the efficiency and convenience of loading and unloading.

[0011] Further, the rotating support member includes a support frame, a rotating platform, and a cam swinging part. The rotating platform is installed on the fixed frame to drive the support frame to swing; the cam swinging part includes a cam plate, a rocker arm, and a spring. The cam plate is fixed to the fixed frame and is coaxially arranged with the rotating platform; the rocker arm is arranged along the front-to-back direction, one end of which is connected to the support frame, and the other end abuts on the cam plate; the spring is mounted on the rocker arm, and its two ends respectively abut on the rocker arm and the support frame, and the spring is always in a compressed state.

[0012] The cooperation of the rotating platform and the cam swinging part provides two support points for the left and right swing of the support frame, which improves the stability of the left and right swing of the support frame to a certain extent; and in the cam swinging part, the cooperation of the spring and the rocker arm can apply a supporting force to the support frame in the front-to-back direction, thereby enhancing the structural strength of the support frame in the front-to-back direction to ensure the stability of the up and down swing of the belt transmission assembly.

[0013] Furthermore, the swing rod comprises a rod body, an arc-shaped swing plate is pivotally connected to one end of the rod body facing the cam plate, and a roller is provided on the arc-shaped swing plate to abut against the cam plate. The arrangement of the arc-shaped swing plate and the roller can ensure the smooth movement of the swing rod along the cam plate, thereby ensuring the synchronous left-right swing of the swing rod and the support frame.

[0014] Furthermore, a rod body boss for the spring to abut against is provided on the side wall of the rod body.

[0015] Specifically, the rotating platform includes a coaxially arranged fixed platform and a movable platform, wherein the fixed platform is fixedly connected to the fixed frame, and the movable platform is fixedly connected to the support frame; the fixed platform and the movable platform are locked or unlocked by a magnetic structure, and when the magnetic structure is powered on, the movable platform can rotate relative to the fixed platform; when the magnetic structure is powered off, the movable platform cannot rotate relative to the fixed platform. The magnetic structure can be used to lock the rotating platform, thereby ensuring the stability of the swing position of the support frame and the belt transmission assembly.

[0016] Specifically, the front wheel lifting driving unit includes a connecting rod assembly and a front wheel lifting driving member that form a parallelogram structure, wherein the connecting rod assembly includes four connecting rods that are pivotally connected end to end, wherein two of the connecting rods are arranged vertically, and one connecting rod arranged vertically is fixed to the fixed frame, and the other connecting rod arranged vertically is connected to the front wheel assembly; the front wheel lifting driving member is used to drive the connecting rod assembly to move the connecting rod connected to the front wheel assembly upward and downward. The connecting rod assembly with a parallelogram structure is used to drive the front wheel assembly upward and downward, which not only ensures the lifting stability of the front wheel assembly, but also does not affect the contact between the rear wheel assembly and the ground, thereby avoiding the overturning of the loading and unloading system.

[0017] Furthermore, the front wheel lifting drive unit is provided with two groups and is respectively located on both sides of the belt transmission assembly; the front wheel assembly and the front wheel lifting drive unit are provided one-to-one, and a standing platform that can be lifted and moved is provided on the two groups of the front wheel assemblies. The setting of the standing platform facilitates manual handling of goods at the front side of the loading and unloading system, and the lifting and moving of the standing platform can adapt to the up and down swinging of the belt transmission assembly, saving the workload of manual up and down handling.

[0018] Specifically, the rear wheel assembly includes a rear wheel mounting seat vertically slidably arranged on the fixed frame, and a rear wheel is arranged at the bottom of the rear wheel mounting seat; the rear wheel lifting driving unit includes a rear wheel lifting driving member vertically arranged, a housing of the rear wheel lifting driving member is pivotally connected to the fixed frame, and a piston rod of the rear wheel lifting driving member is pivotally connected to the rear wheel mounting seat. The rear wheel lifting driving unit can be arranged to drive the rear wheel assembly to rise and fall, so as to facilitate the rear wheel assembly to enter the vehicle compartment.

[0019] Furthermore, the walking mechanism further includes a detection mechanism, which includes a front detection unit for detecting the height position of the front wheel assembly and a rear detection unit for detecting the height position of the rear wheel assembly; the front detection unit includes a first distance sensor and a second distance sensor respectively located on both sides of the front wheel assembly in the front-to-back direction, and the rear detection unit includes a third distance sensor and a fourth distance sensor respectively located on both sides of the rear wheel assembly in the front-to-back direction. The front detection unit detects whether the front wheel is lower than or higher than the carriage, and the rear detection unit detects whether the rear wheel is higher than or lower than the carriage, so as to start the front wheel lifting drive unit and the rear wheel lifting drive unit in time.

[0020] The second technical solution adopted by the present invention is: a loading and unloading method applied to the above-mentioned loading and unloading system, comprising the following steps:

[0021] The front detection unit detects the height position of the front wheel assembly. If the height of the front wheel assembly is not higher than the height of the bottom surface of the compartment, the front wheel lifting drive unit drives the front wheel assembly to be lifted to a height higher than the bottom surface of the compartment; if the height of the front wheel assembly is higher than the height of the bottom surface of the compartment, the loading and unloading system moves toward the compartment until the front wheel assembly completely enters the compartment, and then the front wheel lifting drive unit drives the front wheel assembly to be lowered to abut against the bottom surface of the compartment;

[0022] The rear detection unit detects the height position of the rear wheel assembly. If the height of the rear wheel assembly is not higher than the height of the bottom surface of the compartment, the rear wheel lifting drive unit drives the rear wheel assembly to be lifted to a height higher than the bottom surface of the compartment. If the height of the rear wheel assembly is higher than the height of the bottom surface of the compartment, the loading and unloading system moves toward the compartment until the rear wheel assembly completely enters the compartment, and then the rear wheel lifting drive unit drives the rear wheel assembly down to abut against the bottom surface of the compartment.

[0023] After the front wheel assembly and the rear wheel assembly move to the designated position along the bottom surface of the carriage, the belt conveyor assembly swings left and right to the area to be loaded and unloaded, and the lifting drive component then drives the belt conveyor assembly to swing up and down to the set height; then the belt conveyor assembly starts to convey the goods to be loaded and unloaded.

[0024] The beneficial effects of the loading and unloading method of the present invention are:

[0025] The detection by the front detection part and the rear detection part provides a basis for the lifting timing of the front wheel assembly and the rear wheel assembly. The front wheel lifting drive part and the rear wheel lifting drive part can respectively drive the front wheel assembly and the rear wheel assembly to rise and fall independently, so that the front wheel assembly and the rear wheel assembly can be independently lifted to above the bottom surface of the car, and then connected to the bottom surface of the car in turn, to ensure the stability of the loading and unloading system during the whole process of entering the car; finally, the rotating support part drives the belt conveyor assembly to swing left and right, and the lifting drive part drives the belt conveyor assembly to swing up and down, so that the belt conveyor assembly moves to the designated position for loading and unloading of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a loading and unloading system according to an embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of a transmission mechanism according to an embodiment of the present invention;

[0028] Figure 3 It is a schematic structural diagram of a rotating support member according to an embodiment of the present invention;

[0029] Figure 4 It is a structural schematic diagram of a rotating support member from another perspective according to an embodiment of the present invention;

[0030] Figure 5 It is a structural schematic diagram of a belt transmission assembly assembled on a support frame according to an embodiment of the present invention;

[0031] Figure 6 for Figure 5 A partial enlarged view of the middle A area;

[0032] Figure 7 It is a cross-sectional schematic diagram of a belt transmission assembly according to an embodiment of the present invention;

[0033] Figure 8 It is a structural schematic diagram of a tension adjustment part according to an embodiment of the present invention;

[0034] Fig. 9 This is a schematic diagram of the structure of a mounting base according to an embodiment of the present invention;

[0035] Fig.10 This is a schematic diagram of the structure of the walking mechanism of an embodiment of the present invention;

[0036] Fig.11 It is a schematic structural diagram of a front wheel assembly according to an embodiment of the present invention;

[0037] Fig.12 It is a schematic structural diagram of a rear wheel assembly according to an embodiment of the present invention.

[0038] In the figure:

[0039] 1-Fix the rack;

[0040] 2-transmission mechanism; 21-rotating support; 211-support frame; 2111-stand; 2112-tripod; 2113-sleeve; 212-rotating platform; 213-cam swing part; 2131-cam plate; 2132-swing rod; 2133-spring; 2134-arc swing plate; 2135-roller; 214-transition carrier; 22-lifting drive member; 23-belt transmission assembly; 231-transmission frame; 232-transmission roller group; 233-tensioning roller; 234-transmission belt; 235-mounting seat; 2351-first abutment surface; 2352-second abutment surface; 2353-opening; 236-screw; 237-first nut; 238-second nut; 239-tensioning spring;

[0041] 3-travel mechanism; 31-front wheel lifting drive unit; 311-connecting rod assembly; 312-front wheel lifting drive member; 32-rear wheel lifting drive unit; 33-front wheel assembly; 331-front wheel stand; 332-front wheel; 34-rear wheel assembly; 341-rear wheel mounting seat; 342-rear wheel; 35-front detection unit;

[0042] 4- Receiver plate;

[0043] 5-standing platform; 51-linear module; 52-vertical board; 53-platform support board. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0045] Example

[0046] See attached Figure 1-2 As shown, a loading and unloading system of the present invention comprises a fixed frame 1, a conveying mechanism 2, and a walking mechanism 3, wherein the conveying mechanism 2 comprises a rotating support 21, a lifting drive 22, and a belt conveying assembly 23. The rotating support 21 is mounted on the fixed frame 1 to drive the belt conveying assembly 23 to swing left and right along the fixed frame 1. The belt conveying assembly 23 is arranged along the front-to-back direction, one end of which is pivotally connected to the rotating support 21, and the other end can swing up and down under the action of the lifting drive 22. The walking mechanism 3 is mounted on the fixed frame 1 to move the loading and unloading system. The walking mechanism 3 comprises a front wheel lifting drive unit 31, a rear wheel lifting drive unit 32, a front wheel assembly 33, and a rear wheel assembly 34, wherein the front wheel assembly 33 and the rear wheel assembly 34 are arranged along the front-to-back direction, the front wheel lifting drive unit 31 is used to drive the front wheel assembly 33 to move up and down, and the rear wheel lifting drive unit 32 is used to drive the rear wheel assembly 34 to move up and down.

[0047] When the loading and unloading system of the present invention is in use, one end (front end) in the front-to-back direction is docked with the carriage, and the other end (rear end) is docked with the conveying equipment. In the conveying mechanism 2, the setting of the rotating support 21 can drive the belt conveying assembly 23 to swing left and right, realize the reciprocating movement of the belt conveying assembly 23 in the width direction of the carriage, so as to facilitate the loading and unloading of goods at multiple positions in the width direction of the carriage; at the same time, the setting of the rotating support 21 can provide a certain supporting force during the up and down swinging of the belt conveying assembly 23, so as to improve the stability of the up and down swinging of the belt conveying assembly 23; the setting of the lifting drive 22 can drive the belt conveying assembly 23 to swing up and down, so as to facilitate the loading and unloading of goods at multiple positions in the height direction of the carriage; The setting of the belt conveying assembly 23 realizes the transmission of the goods in the depth direction of the car, so as to facilitate the conveying of the goods to the designated loading and unloading position; in the walking mechanism 3, the stability of the walking of the loading and unloading system is guaranteed by the cooperation of the front wheel assembly 33 and the rear wheel assembly 34; and the independent lifting and lowering of the front wheel assembly 33 and the rear wheel assembly 34 are realized by the setting of the front wheel lifting drive unit 31 and the rear wheel lifting drive unit 32, which is conducive to the change of the height position of the front wheel assembly 33 and the rear wheel assembly 34, so as to facilitate the loading and unloading system to enter the interior of the car, thereby improving the convenience of cargo handling inside the car.

[0048] In order to improve the transfer stability of the loading and unloading system, in some embodiments, see the attached Figure 3-6 As shown, the rotating support member 21 includes a support frame 211, a rotating platform 212, and a cam swinging part 213. The rotating platform 212 is installed on the fixed frame 1 to drive the support frame 211 to swing; the cam swinging part 213 is located below the rotating platform 212, and includes a cam plate 2131, a swing rod 2132, and a spring 2133. The cam plate 2131 is fixed to the fixed frame 1 and is coaxially arranged with the rotating platform 212; the swing rod 2132 is arranged along the front-to-back direction, one end of which is connected to the support frame 211, and the other end abuts against the cam plate 2131; the spring 2133 is sleeved on the swing rod 2132, and its two ends abut against the swing rod 2132 and the support frame 211, respectively, and the spring 2133 is always in a compressed state.

[0049] When the belt transmission assembly 23 swings in the left and right directions, the support frame 211 can swing synchronously and drive the rotating platform 212 to rotate. At this time, the swing rod 2132 swings along the cam plate 2131. Since the rotating platform 212 and the cam swinging part 213 are located at different heights, the cooperation of the rotating platform 212 and the cam swinging part 213 provides two support points for the left and right swing of the support frame 211, which can improve the stability of the left and right swing of the support frame 211 to a certain extent. In addition, during the swinging process of the swing rod 2132, the swing rod 2132 always maintains the same swinging direction as the belt transmission assembly 23, so the spring 2133 can always provide a supporting force along the transmission direction of the belt transmission assembly 23. Since one end of the belt transmission component 23 away from the support frame 211 is suspended, the belt transmission component 23 only relies on the pivot connection with the support frame 211 and the support of the lifting drive member 22 to maintain balance. In the process of the lifting drive member 22 driving the belt transmission component 23 to swing up and down, the bearing force at the pivot position of the belt transmission component 23 and the support frame 211 is relatively large. Therefore, in the cam swing part 213, the cooperation of the spring 2133 and the rocker rod 2132 can apply a supporting force to the support frame 211 along the front-to-back direction, thereby enhancing the structural strength of the support frame 211 in the front-to-back direction to ensure the stability of the up and down swinging of the belt transmission component 23.

[0050] It should be noted that the cam plate 2131 is fixedly connected to the fixed frame 1 at one end and has a plate body with an arc-shaped convex surface at the other end, and the axis of the arc-shaped convex surface coincides with the axis of the rotating platform 212 .

[0051] In some embodiments, see Appendix Figure 6 As shown, the swing rod 2132 includes a rod body, and an arc-shaped swing plate 2134 is pivotally connected to one end of the rod body facing the cam plate 2131, and the side of the arc-shaped swing plate 2134 facing the cam plate 2131 is adapted to the shape of the arc-shaped convex surface, and the middle part of the arc-shaped swing plate 2134 is pivotally connected to the rod body, and rollers 2135 that can abut on the arc-shaped convex surface are symmetrically arranged at both ends. When the support frame 211 swings left and right, the rollers 2135 on the arc-shaped swing plate 2134 can roll along the arc-shaped convex surface. Furthermore, one end of the rod body away from the arc-shaped swing plate 2134 is penetrated on the support frame 211, and a rod body boss is integrally arranged on the side wall of the rod body, and the spring 2133 is sleeved on the rod body, and the two ends are respectively abutted on the rod body boss and the support frame 211.

[0052] In some embodiments, see Appendix Figure 4As shown, the support frame 211 includes a stand 2111 and a tripod 2112. The stand 2111 is arranged vertically, and its upper end is connected to the rotating platform 212, and its lower end is connected to the tripod 2112. The lower end of the tripod 2112 is integrally provided with a sleeve 2113 for the swing rod 2132 to pass through. The arrangement of the tripod 2112 can utilize the triangular structural characteristics to enhance the overall structural strength of the support frame 211.

[0053] A gap is left between the stand 2111 and the fixed frame 1 for the stand 2111 to swing, and the fixed frame 1 is also provided with limit baffles on the left and right sides of the stand 2111 to limit the swing range of the stand 2111.

[0054] In some embodiments, the lifting drive member 22 is arranged in an inclined direction, its cylinder body is pivoted on the tripod 2112, and its piston rod is pivoted on the belt transmission assembly 23. Exemplarily, the lifting drive member 22 can be a linear drive member such as a cylinder or an electric cylinder.

[0055] In order to avoid the deviation of the swing position of the belt transmission assembly 23 caused by the incorrect rotation of the rotating platform 212, in some embodiments, the rotating platform 212 includes a coaxially arranged fixed platform and a movable platform, the fixed platform is fixedly connected to the fixed frame 1, and the movable platform is fixedly connected to the support frame 211; the fixed platform and the movable platform are locked or unlocked by a magnetic structure, and when the magnetic structure is energized, the movable platform can rotate relative to the fixed platform; when the magnetic structure loses power, the movable platform cannot rotate relative to the fixed platform.

[0056] Specifically, the magnetic attraction structure includes a magnet and a disk that can be fixed by magnetic attraction, the magnet is fixed on the fixed platform, and the disk is fixed on the movable platform. When the power is not turned on, the magnet and the disk are fixed by magnetic attraction. At this time, the movable platform cannot rotate due to the magnetic force; when the power is turned on, the magnet is demagnetized (the magnetism disappears), the disk is no longer affected by the magnetic force of the magnet, and the movable platform can rotate along the fixed platform under the action of external force. The setting of the magnetic attraction structure can lock the rotating platform 212, thereby ensuring the stability of the swing position of the support frame 211 and the belt transmission component 23.

[0057] In some embodiments, see Appendix Figure 7 As shown, the belt conveyor assembly 23 includes a conveyor frame 231, a conveyor roller group 232, a tension roller 233, and a conveyor belt 234 that is closed and arranged on the conveyor roller group 232 and the tension roller 233. The conveying energy of the conveyor belt 234 drives the goods to move back and forth along the length direction of the conveyor belt 234.

[0058] See attached Figure 8As shown, the belt transmission assembly 23 also includes a tension adjustment part for adjusting the tension of the conveyor belt 234, and the tension adjustment part includes a mounting seat 235 and an adjustment member arranged in a one-to-one correspondence with the mounting seat 235. Two mounting seats 235 are provided and are respectively mounted on the two ends of the tension roller 233. The adjustment member includes a screw rod 236, a first nut 237, a second nut 238, and a tension spring 239, wherein the screw rod 236 is penetrated on the conveyor frame 231 along the front-back direction, and one end thereof abuts on the corresponding mounting seat 235. The first nut 237 is threadedly mounted on the screw rod 236 and fixedly connected to the conveyor frame 231. The second nut 238 is located between the first nut 237 and the mounting seat 235, and the second nut 238 is threadedly mounted on the screw rod 236. The tension spring 239 is mounted on the screw rod 236, and its two ends abut on the mounting seat 235 and the second nut 238 respectively.

[0059] When adjusting the tension of the conveyor belt 234, first screw the screw 236 in the direction of the mounting seat 235, and the screw 236 then moves along the first nut 237 (conveying frame) in the direction of the mounting seat 235 to drive the mounting seat 235 to move in the direction away from the first nut 237; when the mounting seat 235 moves to the set position, screw the second nut 238 in to move the second nut 238 along the screw 236 in the direction of the mounting seat 235, and the tensioning spring 239 then receives force and pushes the mounting seat 235 to continue to move in the direction away from the first nut 237, so that the screw 236 no longer abuts against the mounting seat 235. Since the tensioning spring 239 applies elastic pressure to the mounting seat 235, the tensioning force applied to the conveyor belt 234 on the tensioning roller 233 is flexible, thereby avoiding the influence of the rigid tensioning force on the life of the conveyor belt 234.

[0060] For further information, see Appendix Fig. 9 As shown, the mounting seat 235 includes a seat body, on which a first abutting surface 2351 and a second abutting surface 2352 are respectively provided for the screw rod 236 and the tension spring 239 to abut, and an opening 2353 is provided on the second abutting surface 2352 for the screw rod 236 to pass through. The arrangement of the first abutting surface 2351, the second abutting surface 2352 and the opening 2353 avoids interference of the screw rod 236 with the second abutting surface 2352 during operation, and ensures that the screw rod 236 and the tension spring 239 independently push the mounting seat 235.

[0061] In some embodiments, see Appendix Figure 1 , Figure 3 As shown, a receiving plate 4 capable of docking to the conveying device is also provided on the side of the fixed frame 1 away from the belt transmission assembly 23. A transition carrier 214 is also provided on the support frame 211 adjacent to the conveyor belt 234, and a plurality of bull's eye bearings are evenly distributed on the transition carrier.

[0062] In this embodiment, see the attached Figure 10-12 As shown, the traveling mechanism 3 realizes the independent lifting and lowering of the front wheel assembly 33 and the rear wheel assembly 34 through the arrangement of the front wheel lifting driving unit 31 and the rear wheel lifting driving unit 32, so as to facilitate the front wheel assembly 33 and the rear wheel assembly 34 to enter the interior of the carriage in sequence. Specifically, two sets of the front wheel lifting driving unit 31 are provided and are respectively located on the left and right sides of the belt transmission assembly 23, and correspondingly, two sets of the front wheel assembly 33 are also provided. Each front wheel lifting driving part 31 includes a connecting rod assembly 311 and a front wheel lifting driving member 312 forming a parallelogram structure. The connecting rod assembly 311 includes four connecting rods pivotally connected end to end, two of which are arranged vertically, and one connecting rod arranged vertically is fixed to the fixed frame 1, and the other connecting rod arranged vertically is connected to the front wheel assembly 33; the front wheel lifting driving member 312 is installed on the connecting rod assembly 311, and is used to drive the connecting rod assembly 311 to move in linkage so that the connecting rod connected to the front wheel assembly 33 can be lifted and moved.

[0063] For details, see the attached Fig.11 As shown, the connecting rod assembly 311 includes connecting rod 1, connecting rod 2, connecting rod 3, and connecting rod 4, wherein connecting rod 1 and connecting rod 3 are arranged vertically, and connecting rod 1 is fixed to the fixed frame 1, and connecting rod 3 is fixed to the front wheel assembly 33. Connecting rod 2 and connecting rod 4 are located between connecting rod 1 and connecting rod 3, and connecting rod 2 is located above connecting rod 4. Since the connecting rod assembly 311 is a parallelogram structure, connecting rod 1 is fixed, and connecting rod 2 and connecting rod 4 swing up and down at the same time with the pivot point of connecting rod 1 as the fulcrum, thereby driving connecting rod 3 to move up and down, so as to realize the reciprocating movement of the front wheel assembly 33 on connecting rod 3 in the vertical direction.

[0064] The front wheel lifting driving member 312 is a linear driving member such as a cylinder or an electric cylinder, and the housing of the front wheel lifting driving member 312 is hinged to the connecting rod 1, and the piston rod of the front wheel lifting driving member 312 is hinged to the connecting rod 2. When the piston rod of the front wheel lifting driving member 312 is extended, the connecting rod 2 can swing upward, thereby allowing the connecting rod 3 and the front wheel assembly 33 to move upward.

[0065] The front wheel assembly 33 includes a front wheel stand 331, which is arranged vertically and fixedly connected to the connecting rod 3, and a front wheel 332 is installed at the lower end of the front wheel stand 331, and the upper end is higher than the belt transmission assembly 23. Since the two groups of front wheel assemblies 33 are respectively located on both sides of the belt transmission assembly 23, the front wheel stand 331 is set so that the upper end is higher than the belt transmission assembly 23, which can limit the left and right swing range of the belt transmission assembly 23.

[0066] See attached Fig.12As shown, the rear wheel assembly 34 includes a rear wheel mounting seat 341 slidably arranged on the fixed frame 1 in the vertical direction, and a rear wheel 342 is symmetrically arranged on the bottom of the rear wheel mounting seat 341 in the left-right direction. The rear wheel lifting driving unit 32 includes a rear wheel lifting driving member arranged in the vertical direction, the housing of the rear wheel lifting driving member is pivotally connected to the fixed frame 1, and the piston rod of the rear wheel lifting driving member is pivotally connected to the rear wheel mounting seat 341. Exemplarily, the rear wheel lifting driving member is a linear driving member such as a cylinder or an electric cylinder. The rear wheel assembly 34 can be driven to rise and fall by the arrangement of the rear wheel lifting driving unit 32, so as to facilitate the rear wheel assembly 34 to enter the vehicle compartment.

[0067] When the loading and unloading system needs to enter the carriage, first the front wheel lifting driving part 312 drives the front wheel assembly 33 to move up, so that the height position of the front wheel assembly 33 is higher than the height of the bottom surface in the carriage, and then the front wheel assembly 33 enters the carriage and descends until it abuts against the bottom surface in the carriage. In this process, since the conveying equipment always supports the loading and unloading system, and at the same time, the front wheel assembly 33 is driven to rise and fall by the connecting rod assembly 311, and the rear wheel assembly 34 always abuts against the ground and rolls, the entire loading and unloading system can remain stable and will not overturn. When the rear wheel assembly 34 is ready to enter the carriage, the rear wheel lifting driving part 32 drives the rear wheel assembly 34 to lift until the height position of the rear wheel assembly 34 is higher than the height of the bottom surface in the carriage, and then the rear wheel assembly 34 enters the carriage and abuts against the bottom surface in the carriage. In this process, the conveying equipment always supports the loading and unloading system, and the front wheel assembly 33 abuts against and rolls against the bottom surface in the carriage, so the entire loading and unloading system can remain stable and will not overturn.

[0068] Furthermore, in order to obtain the height positions of the front wheel assembly 33 and the rear wheel assembly 34 , the walking mechanism 3 also includes a detection mechanism, which includes a front detection unit 35 for detecting the height position of the front wheel assembly 33 and a rear detection unit for detecting the height position of the rear wheel assembly 34 .

[0069] The front detection unit 35 includes a first distance sensor and a second distance sensor respectively located on both sides of the front wheel assembly 33 in the front-to-back direction, and the rear detection unit includes a third distance sensor and a fourth distance sensor respectively located on both sides of the rear wheel assembly 34 in the front-to-back direction. The front detection unit 35 detects whether the front wheel 332 is lower than or higher than the carriage, and the rear detection unit 36 ​​detects whether the rear wheel 342 is higher than or lower than the carriage, so as to start the front wheel lifting drive unit 31 and the rear wheel lifting drive unit 32 in time. In the front detection unit 35, the first distance sensor and the second distance sensor are arranged to detect the height positions of the front side and the rear side of the front wheel assembly 33 respectively, so as to ensure that the front wheel assembly 33 can be completely higher than the bottom surface of the carriage when entering the carriage; similarly, in the rear detection unit, the third distance sensor and the fourth distance sensor are arranged to detect the height positions of the front side and the rear side of the rear wheel assembly 34 respectively, so as to ensure that the rear wheel assembly 34 can be completely higher than the bottom surface of the carriage when entering the carriage.

[0070] For example, the first distance sensor, the second distance sensor, the third distance sensor, and the fourth distance sensor all emit detection light that is directed vertically downward. When the detection light touches the ground or the vehicle compartment, it is reflected back and received by the distance sensor, thereby understanding the distance from the distance sensor to the ground or the vehicle compartment. The detection light is directed vertically downward to detect the minimum distance between the two, so that the detection standards of the distance sensors on both sides of the front wheel 332 or the rear wheel 342 are unified, which is convenient for installation.

[0071] In some embodiments, in order to facilitate cargo loading and unloading at the front end of the loading and unloading system, a standing platform 5 capable of lifting and moving is provided on the two sets of front wheel assemblies 33. Specifically, a vertical plate 52 capable of lifting and moving under the drive of the linear module 51 is provided on the front side of each front wheel frame 331, and a platform support plate 53 for a person to stand on is connected to the two vertical plates 52. The provision of the standing platform 5 facilitates manual handling of cargo at the front side of the loading and unloading system, and the lifting and moving of the platform support plate 53 can adapt to the up and down swinging of the belt conveyor assembly 23, saving the workload of manual up and down handling.

[0072] For example, in the initial state, the belt conveyor assembly 23 is in a horizontal direction. When the lifting drive 22 drives the belt conveyor assembly 23 to rise, the linear module 51 synchronously drives the vertical plate 52 to rise, so that the platform support plate 53 can rise synchronously with the belt conveyor assembly 23, avoiding excessive labor intensity caused by workers carrying too high goods.

[0073] Furthermore, handles for workers to hold are provided on both sides of the conveyor frame 231 to ensure the safety of workers during the lifting and lowering of the standing platform 5. It should be noted that when the belt conveyor assembly 23 swings downward from the horizontal direction, the standing platform 5 does not need to be lowered synchronously.

[0074] The present invention also provides a loading and unloading method, comprising the following steps:

[0075] (1) The front detection unit 35 detects the height position of the front wheel assembly 33. If the height of the front wheel assembly 33 is not higher than the height of the bottom surface of the compartment, the front wheel lifting drive unit 31 drives the front wheel assembly 33 to be lifted to a height higher than the bottom surface of the compartment. If the height of the front wheel assembly 33 is higher than the height of the bottom surface of the compartment, the loading and unloading system moves toward the compartment until the front wheel assembly 33 completely enters the compartment, and then the front wheel lifting drive unit 31 drives the front wheel assembly 33 to be lowered until it contacts the bottom surface of the compartment.

[0076] (2) The rear detection unit 36 ​​detects the height position of the rear wheel assembly 34. If the height of the rear wheel assembly 34 is not higher than the height of the bottom surface of the compartment, the rear wheel lifting drive unit 32 drives the rear wheel assembly 34 to be lifted to a height higher than the bottom surface of the compartment. If the height of the rear wheel assembly 34 is higher than the height of the bottom surface of the compartment, the loading and unloading system moves toward the compartment until the rear wheel assembly 34 completely enters the compartment, and then the rear wheel lifting drive unit 32 drives the rear wheel assembly 34 to be lowered until it contacts the bottom surface of the compartment.

[0077] (3) After the front wheel assembly 33 and the rear wheel assembly 34 move to the designated position along the bottom surface of the carriage, the belt conveyor assembly 23 swings left and right to the area to be loaded and unloaded, and the lifting drive member 22 then drives the belt conveyor assembly 23 to swing up and down to a set height; then the belt conveyor assembly 23 starts to convey the goods to be loaded and unloaded.

[0078] In step (1), the first distance sensor and the second distance sensor simultaneously detect the height of the front wheel assembly 33. When the first distance sensor and the second distance sensor both detect that the height of the front wheel assembly 33 is higher than the height of the bottom surface of the vehicle compartment, the front wheel assembly 33 can enter the interior of the vehicle compartment. After entering the interior of the vehicle compartment, when the heights of the front wheel assembly 33 detected by the first distance sensor and the second distance sensor are the same, it means that the front wheel assembly 33 is located on the same horizontal plane. At this time, the front wheel lifting drive unit 31 drives the front wheel assembly 33 to descend until it abuts against the bottom surface of the vehicle compartment.

[0079] In step (2), the third distance sensor and the fourth distance sensor simultaneously detect the height of the rear wheel assembly 34. When the first distance sensor and the second distance sensor both detect that the height of the rear wheel assembly 34 is higher than the height of the bottom surface of the vehicle compartment, the rear wheel assembly 34 can enter the interior of the vehicle compartment. After entering the interior of the vehicle compartment, when the heights of the rear wheel assembly 34 detected by the third distance sensor and the fourth distance sensor are the same, it means that the rear wheel assembly 34 is located on the same horizontal plane. At this time, the rear wheel assembly 34 is driven down by the rear wheel lifting drive unit 32 until it abuts against the bottom surface of the vehicle compartment.

[0080] In step (3), while the lifting drive member 22 drives the belt conveyor assembly 23 to swing up and down, the standing platform 5 can be lifted and moved synchronously.

[0081] It should be noted that, when the loading and unloading system moves toward the carriage, the receiving plate 4 is always docked on the conveying equipment, so that the conveying equipment can be used to ensure the stability of the loading and unloading system away from the carriage side.

[0082] The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A loading and unloading system, characterized in that: include Fixed rack; The transmission mechanism comprises a rotating support, a lifting drive, and a belt transmission assembly; the rotating support is mounted on the fixed frame to drive the belt transmission assembly to swing left and right along the fixed frame; the belt transmission assembly is arranged in the front-back direction, one end of which is pivotally connected to the rotating support, and the other end can swing up and down under the action of the lifting drive; A walking mechanism is installed on the fixed frame and is used for the walking movement of the loading and unloading system; the walking mechanism includes a front wheel lifting driving unit, a rear wheel lifting driving unit, a front wheel assembly, and a rear wheel assembly, the front wheel assembly and the rear wheel assembly are arranged along the front-to-back direction, the front wheel lifting driving unit is used to drive the front wheel assembly to move up and down, and the rear wheel lifting driving unit is used to drive the rear wheel assembly to move up and down; The rotating support member includes a support frame, a rotating platform, and a cam swinging part. The rotating platform is installed on the fixed frame to drive the support frame to swing; the cam swinging part includes a cam plate, a rocker bar, and a spring. The cam plate is fixed to the fixed frame and is coaxially arranged with the rotating platform; the rocker bar is arranged along the front-back direction, one end of which is connected to the support frame, and the other end abuts against the cam plate; the spring is sleeved on the rocker bar, and its two ends abut against the rocker bar and the support frame respectively, and the spring is always in a compressed state; The swing rod comprises a rod body, one end of the rod body facing the cam plate is pivotally connected to an arc-shaped swing plate, and the arc-shaped swing plate is provided with a roller abutting against the cam plate; A rod body boss for the spring to abut against is provided on the side wall of the rod body; The belt transmission assembly includes a conveyor belt and a tension adjusting part for adjusting the tension of the conveyor belt. The tension adjusting part includes a mounting seat and an adjusting member arranged in a one-to-one correspondence with the mounting seat.

2. The loading and unloading system according to claim 1, characterized in that: The rotating platform comprises a coaxially arranged fixed platform and a movable platform, wherein the fixed platform is fixedly connected to the fixed frame, and the movable platform is fixedly connected to the support frame; the fixed platform and the movable platform are locked or unlocked by a magnetic attraction structure, and when the magnetic attraction structure is powered on, the movable platform can rotate relative to the fixed platform; When the magnetic attraction structure loses power, the movable platform cannot rotate relative to the fixed platform.

3. The loading and unloading system according to claim 1, characterized in that: The front wheel lifting driving part includes a connecting rod assembly and a front wheel lifting driving member forming a parallelogram structure, the connecting rod assembly includes four connecting rods pivotally connected end to end, two of which are arranged vertically, and one connecting rod arranged vertically is fixed to the fixed frame, and the other connecting rod arranged vertically is connected to the front wheel assembly; the front wheel lifting driving member is used to drive the connecting rod assembly to move in linkage so that the connecting rod connected to the front wheel assembly can be lifted and lowered.

4. The loading and unloading system according to claim 3, characterized in that: The front wheel lifting driving parts are provided with two groups and are respectively located on both sides of the belt transmission assembly; the front wheel assemblies and the front wheel lifting driving parts are arranged one by one, and a standing platform that can be lifted and moved is commonly provided on the two groups of the front wheel assemblies.

5. The loading and unloading system according to claim 1, characterized in that: The rear wheel assembly includes a rear wheel mounting seat vertically slidably arranged on the fixed frame, and a rear wheel is provided at the bottom of the rear wheel mounting seat; the rear wheel lifting drive unit includes a rear wheel lifting drive member arranged vertically, a shell of the rear wheel lifting drive member is pivotally connected to the fixed frame, and a piston rod of the rear wheel lifting drive member is pivotally connected to the rear wheel mounting seat.

6. The loading and unloading system according to claim 1, characterized in that: The walking mechanism also includes a detection mechanism, which includes a front detection unit for detecting the height position of the front wheel assembly and a rear detection unit for detecting the height position of the rear wheel assembly; the front detection unit includes a first distance sensor and a second distance sensor respectively located on both sides of the front wheel assembly along the front-to-back direction, and the rear detection unit includes a third distance sensor and a fourth distance sensor respectively located on both sides of the rear wheel assembly along the front-to-back direction.

7. A loading and unloading method applied to the loading and unloading system according to claim 6, characterized in that: The steps include: The front detection unit detects the height position of the front wheel assembly. If the height of the front wheel assembly is not higher than the height of the bottom surface of the compartment, the front wheel lifting drive unit drives the front wheel assembly to be lifted to a height higher than the bottom surface of the compartment; if the height of the front wheel assembly is higher than the height of the bottom surface of the compartment, the loading and unloading system moves toward the compartment until the front wheel assembly completely enters the compartment, and then the front wheel lifting drive unit drives the front wheel assembly to be lowered to abut against the bottom surface of the compartment; The rear detection unit detects the height position of the rear wheel assembly. If the height of the rear wheel assembly is not higher than the height of the bottom surface of the compartment, the rear wheel lifting drive unit drives the rear wheel assembly to be lifted to a height higher than the bottom surface of the compartment. If the height of the rear wheel assembly is higher than the height of the bottom surface of the compartment, the loading and unloading system moves toward the compartment until the rear wheel assembly completely enters the compartment, and then the rear wheel lifting drive unit drives the rear wheel assembly down to abut against the bottom surface of the compartment. After the front wheel assembly and the rear wheel assembly move to the designated position along the bottom surface of the carriage, the belt conveyor assembly swings left and right to the area to be loaded and unloaded, and the lifting drive component then drives the belt conveyor assembly to swing up and down to the set height; then the belt conveyor assembly starts to convey the goods to be loaded and unloaded.

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