Automatic stacking robot for container goods

Abstract

The invention relates to the technical field of loading and unloading machinery, and particularly provides an automatic stacking robot for container goods. Comprising a main base, and a double-section conveyor is assembled on the main base; the double-section conveyor comprises a main conveyor and an auxiliary conveyor, and the main conveyor is horizontally hinged to the main base; two connecting rod assemblies are horizontally hinged to the main base, the main conveyor is horizontally hinged between the two connecting rod assemblies, and the auxiliary conveyor is horizontally fixed between the two connecting rod assemblies. A driving assembly is further assembled on the main base; an auxiliary discharging mechanism is installed on the auxiliary conveyor in a matched mode. The robot provided by the invention can complete automatic conveying and stacking of cargos in the container under manual auxiliary operation, and meanwhile has the function of automatically unloading the cargos in the container, so that the environment for manually loading and unloading the cargos in the container is greatly improved, and the working efficiency is improved. And time and physical power consumed by reciprocating turning and manual stacking are reduced, and the cargo loading and unloading efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading machinery, and specifically proposes an automatic stacking robot for container cargo. Background Art

[0002] A container is a standardized container for transporting goods. It is usually a square box structure made of steel or aluminum alloy materials. It is used as a cargo transshipment storage warehouse for efficient transfer of goods in various transportation modes such as sea, rail or road transportation. For example, in road logistics transportation, it is common to use container trucks for large-scale transportation of goods.

[0003] Before transportation, the goods need to be stacked in the container. In order to make full use of the internal space of the container and facilitate the orderly sorting and stacking of the goods, the goods are often pre-packed in batches in boxes or bags. Under the existing technology, the stacking of goods in the container is mostly done manually. Since the interior of the container is generally deep, when manually stacking the goods, at least two people are generally required to work together. One of them is outside the container and moves the goods into the container by manual handling or with the help of equipment such as forklifts, and the other is inside the container to sort and stack the goods moved into the box. Therefore, in the traditional mode, manually stacking the goods in the container obviously has the following disadvantages.

[0004] 1) Containers are generally deep. When stacking goods, manual work is required to go back and forth in the container to complete the handling of the goods. The process of going back and forth consumes a lot of physical strength and takes a lot of time. Therefore, manual stacking is laborious and time-consuming.

[0005] 2) During the stacking process, manual climbing is required to stack the goods, which is also time-consuming and laborious.

[0006] 3) Containers are relatively closed and have poor air circulation, making manual stacking operations very uncomfortable, and even more painful on hot days.

[0007] In the process of cargo transportation, loading and unloading of cargo occur in pairs. The above problems also exist when manually unloading the cargo stacked in the container. Summary of the invention

[0008] In order to solve the above problems, the present invention provides a container cargo automatic stacking robot, which is used to solve the problems mentioned in the above background technology.

[0009] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a container cargo automatic stacking robot, comprising a main base, on which is equipped a double-stage conveyor for extending into the container body; the double-stage conveyor comprises a main conveyor and an auxiliary conveyor, the main conveyor is horizontally hinged on the main base, and the auxiliary conveyor is extended and docked in the conveying direction of the main conveyor; two connecting rod assemblies are horizontally hinged on the main base, the main conveyor is horizontally hinged between the two connecting rod assemblies, and the auxiliary conveyor is horizontally fixed between the two connecting rod assemblies; the main base is also equipped with a driving assembly that drives the main conveyor to rotate around the hinge shaft on the main base to adjust the conveying angle.

[0010] When the driving assembly drives the main conveyor to rotate and adjust the conveying angle, driven by the two connecting rod assemblies, the auxiliary conveyor rises and falls synchronously with the end of the main conveyor away from the main base, and the auxiliary conveyor always maintains a horizontal conveying state.

[0011] The auxiliary conveyor is equipped with an auxiliary unloading mechanism for automatically conveying and removing the goods in the container.

[0012] Preferably, the auxiliary conveyor is equipped with two docking conveying sections at the conveying end away from the main conveyor, and the two docking conveying sections are symmetrically arranged in a horizontal direction perpendicular to the conveying direction of the auxiliary conveyor, and a spacing area is provided between the two docking conveying sections; the auxiliary unloading mechanism includes an adsorption plate for adsorbing and grabbing the goods; the adsorption plate is located in the spacing area between the two docking conveying sections.

[0013] Preferably, the auxiliary unloading mechanism also includes a vertical slide rail which is driven and arranged to move along the conveying direction of the auxiliary conveyor, and the vertical slide rail is located below the auxiliary conveyor; the adsorption plate is vertically slidably mounted on the vertical slide rail; track holes are provided on both sides of the frame of the auxiliary conveyor; the track holes are successively divided into an inclined section and a horizontal section in the direction away from the main conveyor, and the inclined section and the horizontal section of the track hole have an arc transition; a guide hole shaft which moves along the two track holes is horizontally fixed on the adsorption plate; under the guidance of the two track holes on the guide hole shaft, when the vertical slide rail moves in the direction away from the main conveyor and the guide hole shaft moves along the inclined section of the track hole, the adsorption plate moves in the horizontal direction with the vertical slide rail, and the adsorption plate slides upward along the vertical slide rail.

[0014] Preferably, the connecting rod assembly includes a main connecting rod hinged on the main base and a secondary connecting rod hinged on the main connecting rod; articulated frames are horizontally symmetrically fixed on both sides of the frame of the main conveyor, and the two articulated frames are hinged on the two secondary connecting rods one by one, and the secondary conveyor is horizontally fixed on the two secondary connecting rods; the hinge centers of the main connecting rod and the main conveyor on the main base are at the same horizontal height, and the distance between the hinge centers of the main connecting rod and the main conveyor on the main base is equal to the distance between the hinge centers of the main connecting rod and the main conveyor on the secondary connecting rod.

[0015] Preferably, the driving assembly comprises a rocker arm which is horizontally rotationally driven and mounted on the main base, a push-pull rod is horizontally hinged on the rocker arm, and the other end of the push-pull rod is horizontally hinged to the bottom end of the frame of the main conveyor.

[0016] Preferably, a push plate for pushing goods is fixed on the side end of the frame of the auxiliary conveyor which is located away from the main conveyor.

[0017] Preferably, when the adsorption plate is at the lowest height position relative to the auxiliary conveyor, the top end of the adsorption plate is lower than the conveying surfaces of both the auxiliary conveyor and the docking conveying section.

[0018] Preferably, when the main conveyor is in a horizontal state, the conveying surface of the main conveyor is flush with the conveying surface of the auxiliary conveyor.

[0019] Preferably, a plurality of pneumatic suction cups are fixed and distributed in an array on the surface of the adsorption plate facing away from the main conveyor.

[0020] Preferably, the push plate is broken into two sections, the broken part of the push plate is used for the adsorption plate to avoid the position, and a nylon brush layer is fixed on the pushing surface of the push plate.

[0021] The above technical scheme has the following advantages or beneficial effects: the present invention provides a robot for automatic stacking of container cargo, which is provided with a double-stage conveyor that can extend into the container box, and the double-stage conveyor includes two sections of conveyors, a main conveyor and an auxiliary conveyor. By adjusting the conveying inclination angle of the main conveyor, the corresponding conveying of cargo to different stacking heights in the container can be completed without changing the loading height outside the container, and the auxiliary conveyor that always maintains horizontal conveying can complete the relay conveying while realizing stable dropping and stacking of the cargo; in addition, it is also equipped with an auxiliary unloading mechanism, which, in cooperation with the double-stage conveyor, can also complete the automatic unloading of the cargo in the container; in summary, the robot provided by the present invention can complete the automatic conveying and stacking of the cargo in the container under manual assisted operation, and at the same time has the function of automatic unloading of the cargo in the container, avoiding the need to enter the container for manual stacking and unloading, greatly improving the environment for manual container cargo loading and unloading operations, reducing the time and physical strength consumed by reciprocating and manual stacking, and improving the cargo loading and unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention and its features, configurations and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts throughout the drawings, which are not drawn to scale, with emphasis on illustrating the subject matter of the present invention.

[0023] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of an automatic container cargo stacking robot provided by the present invention.

[0024] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle.

[0025] Figure 3 It is a three-dimensional structural diagram of an automatic container cargo stacking robot provided by the present invention from another perspective.

[0026] Figure 4 The figure is a top view of an automatic container cargo stacking robot provided by the present invention.

[0027] Figure 5 The present invention is a bottom view of an automatic container cargo stacking robot provided by the present invention.

[0028] Figure 6 The present invention is a front view of an automatic container cargo stacking robot provided by the present invention.

[0029] Figure 7 It is an assembly diagram of the auxiliary unloading mechanism assembled on the auxiliary conveyor.

[0030] In the figure: 1. main base; 2. double-section conveyor; 21. main conveyor; 211. articulated frame; 22. auxiliary conveyor; 221. fixed block; 222. docking conveying section; 223. track hole; 224. push plate; 23. connecting rod assembly; 231. main connecting rod; 232. auxiliary connecting rod; 24. driving assembly; 241. rocker arm; 242. push-pull arm; 3. auxiliary unloading mechanism; 31. stroke cylinder; 32. vertical slide rail; 33. adsorption plate; 331. slider; 332. moving axis; 333. pneumatic suction cup. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] A container cargo automatic stacking robot is mainly used to stack cargo in containers of road transport container trucks. Figure 1 As shown, the stacking robot includes a main base 1. It should be noted that in order to facilitate the movement of the robot when stacking goods, the main base 1 can be installed on a mobile base, and the mobile base can be equipped with an existing electric power-assist system. The electric power-assist system is commonly found in existing mobile devices such as electric power-assist trolleys. With the help of the electric power-assist system, the entire robot can be pushed to move along a plane manually.

[0034] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, a double-stage conveyor 2 for extending into the container body is mounted on the main base 1; the double-stage conveyor 2 includes a main conveyor 21 and an auxiliary conveyor 22. In this embodiment, the main conveyor 21 and the auxiliary conveyor 22 are both belt conveyors; the main conveyor 21 is horizontally hinged on the main base 1, and the auxiliary conveyor 22 is extended and docked and arranged in the conveying direction of the main conveyor 21; two connecting rod assemblies 23 are horizontally hinged on the main base 1, and the main conveyor 21 is located between the two connecting rod assemblies 23; the connecting rod assembly 23 includes a main connecting rod 231 hinged on the main base 1 and an auxiliary connecting rod 232 hinged on the main connecting rod 231; articulated frames 211 are horizontally symmetrically welded on both sides of the frame of the main conveyor 21, and the two articulated frames 211 are hinged on the two auxiliary connecting rods 232 one by one, and the auxiliary conveyor Fixed blocks 221 are symmetrically welded on both sides of the frame of 22, and the two fixed blocks 221 are fixed to the two secondary connecting rods 232 by bolts one by one, and the secondary conveyor 22 is arranged horizontally; the hinge centers of the main connecting rod 231 and the main conveyor 21 on the main base 1 are at the same horizontal height, and the distance between the hinge centers of the main connecting rod 231 and the main conveyor 21 on the main base 1 is equal to the distance between the hinge centers of the main connecting rod 231 and the main conveyor 21 on the secondary connecting rod 232; in addition, when the main conveyor 21 is in a horizontal state, the conveying surface of the main conveyor 21 is flush with the conveying surface of the secondary conveyor 22. When the main conveyor 21 is in a horizontal state and extends into the container body of the container truck, the double-stage conveyor 2 is basically in the upper and lower center position in the container.

[0035] It should be noted that, considering the applicability, the robot provided by the present invention is mainly used to transport and stack goods that are pre-packaged in batches in a certain size range. The packaging box is mainly a carton. Since the box body postures of the packaging box are in a random state during transportation and after stacking, in order to ensure that the packaging boxes are stacked tightly and neatly, such as Figure 1 , Figure 5 and Figure 6 As shown, a push plate 224 for pushing goods is fixed on the side end of the frame of the auxiliary conveyor 22, which is located away from the main conveyor 21. A nylon bristle layer in contact with the packing box body is fixed on the pushing surface of the push plate 224. The nylon bristle layer is flexible but has a certain hardness. The entire nylon bristle layer can push the packing box.

[0036] like Figure 3 , Figure 5 and Figure 6As shown, the main base 1 is also equipped with a driving assembly 24 that drives the main conveyor 21 to rotate around the hinge shaft on the main base 1 to adjust the conveying angle. The driving assembly 24 includes a rocker arm 241 that is horizontally rotated and driven and installed on the main base 1. A push-pull arm 242 is horizontally hinged on the rocker arm 241. The other end of the push-pull arm 242 is horizontally hinged to the bottom end of the frame of the main conveyor 21. An existing reduction angle motor can be fixedly installed on the main base 1, and the rotating shaft of the rocker arm 241 is fixed to the output shaft of the reduction angle motor.

[0037] The two connecting rod assemblies 23 and the main conveyor 21 and the main base 1 form a parallelogram connecting rod structure, wherein the main connecting rod 231 corresponds to the main conveyor 21, and the connecting line segment between the main connecting rod 231 and the main conveyor 21 located on the main base 1 is equivalent to a horizontally set and fixed virtual connecting rod, and the virtual connecting rod is parallel to the auxiliary connecting rod 232. When the rocker arm 241 is driven to rotate, the main conveyor 21 can be pushed up or pulled down by the push-pull arm 242 to adjust the conveying inclination of the main conveyor 21. Under the synchronous restraint of the two connecting rod assemblies 23, the main conveyor 21 always keeps parallel with the main connecting rod 231, and the virtual connecting rod is fixed and horizontal. Therefore, in the process of changing the inclination of the main conveyor 21, the auxiliary connecting rod 232 is always in a horizontal state, and because the auxiliary conveyor 22 is horizontally fixed between the two auxiliary connecting rods 232, the auxiliary conveyor 22 always maintains a horizontal conveying state. In the present invention, the main conveyor 21 is used to undertake the main task of transporting goods, and is used to transport the goods into the container, while the auxiliary conveyor 22 which is always in a horizontal state is used to further transport the goods on the main conveyor 21 horizontally and stack them in the container.

[0038] When loading and stacking the container, the stacking robot provided by the present invention is moved to the door of the container, and the double-stage conveyor 2 is extended into the container. When transporting and stacking, the cargo packing boxes are stacked and stacked from the inside to the outside and from the bottom to the top. Specifically, the packing boxes can be placed one by one on the main conveyor 21 near the conveying end position of the main base 1, and the main conveyor 21 automatically drives the packing boxes to be transported into the container. According to the height of the position where the packing boxes are to be stacked in the container, the main conveyor 21 can be adjusted by the driving component 24 The conveying inclination of the conveyor 21 can be adjusted to a downward inclination when stacking is required at a lower position, and can be adjusted to an upward inclination when stacking is required at a higher position. After the inclination is adjusted, the height of the conveying surface of the auxiliary conveyor 22 can be slightly higher than the height to be stacked. No matter what inclination the main conveyor 21 is adjusted to, under the transportation of the main conveyor 21, the packaging boxes will be transported to the auxiliary conveyor 22, and with the relay transportation of the auxiliary conveyor 22, the packaging boxes will automatically fall at the corresponding stacking position.

[0039] After continuous stacking, in order to make the packing boxes stacked tightly and neatly, during stacking, on the one hand, the packing boxes can be pushed inward by the two pushing plates 224 so that the box body is straightened and close to the box body inside. On the other hand, the side walls of the frame of the auxiliary conveyor 22 can be used to push the side of the packing boxes so that the packing boxes are close to each other in the lateral direction.

[0040] In order to enable the stacking robot provided by the present invention to have the function of automatically unloading the goods in the container, Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the auxiliary conveyor 22 is equipped with an auxiliary unloading mechanism 3 for automatically conveying and removing the goods in the container. Two docking conveying sections 222 are installed on the auxiliary conveyor 22 at the conveying end away from the main conveyor 21. The two docking conveying sections 222 are symmetrically arranged in a direction horizontally perpendicular to the conveying direction of the auxiliary conveyor 22, and a spacing area is provided between the two docking conveying sections 222; the two docking conveying sections 222 are also belt conveying mechanisms. In this embodiment, the conveying surface of the docking conveying section 222 is highly flush with the conveying surface of the auxiliary conveyor 22. In addition, in order to ensure that the two docking conveying sections 222 and the auxiliary conveyor 22 are conveyed synchronously, the two docking conveying sections 222 can be connected to the auxiliary conveyor 22 through a synchronous belt to achieve synchronous operation.

[0041] like Figure 2 , Figure 5 , Figure 6 and Figure 7As shown, the auxiliary unloading mechanism 3 includes a stroke cylinder 31 horizontally fixed to the bottom end of the frame of the auxiliary conveyor 22 by a fixing plate, and the output direction of the stroke cylinder 31 is along the conveying direction of the auxiliary conveyor 22; the output end of the stroke cylinder 31 is fixed with a vertical slide rail 32 by bolts, and the vertical slide rail 32 is located below the auxiliary conveyor 22; an adsorption plate 33 is mounted on the vertical slide rail 32, and a slider 331 is integrally formed on the adsorption plate 33. The adsorption plate 33 is vertically slidably mounted on the vertical slide rail 32 by the slider 331, and the adsorption plate 33 is located in the interval area between the two docking conveying sections 222. In addition, in order to avoid the adsorption plate 33, the push plate 224 is broken into two sections; the array on the plate surface of the adsorption plate 33 facing away from the main conveyor 21 is divided into The cloth is fixed with multiple pneumatic suction cups 333, which are connected to the end of the existing vacuum generating device through an air pipe; track holes 223 are opened on both sides of the frame of the auxiliary conveyor 22; the track holes 223 are divided into an inclined section and a horizontal section in the direction away from the main conveyor 21, and the inclined section and the horizontal section of the track hole 223 are in arc transition; a moving shaft 332 moving along the two track holes 223 is horizontally welded on the slider 331; under the guidance of the two track holes 223 on the moving shaft 332, when the vertical slide rail 32 moves in the direction away from the main conveyor 21 and the moving shaft 332 moves along the inclined section of the track hole 223, the adsorption plate 33 moves with the vertical slide rail 32 in the horizontal direction and slides upward along the vertical slide rail 32. Driven by the stroke cylinder 31 and guided by the track hole 223 on the moving shaft 332, when the moving shaft 332 moves along the inclined section of the track hole 223, it is mainly to drive the suction plate 33 to move in the vertical direction, and when the suction plate 33 is at the lowest height position relative to the auxiliary conveyor 22 (at this time, the output rod of the stroke cylinder 31 is not extended), the top of the suction plate 33 is lower than the conveying surfaces of both the auxiliary conveyor 22 and the docking conveying section 222, so that the conveying of the packing box can be avoided. In the process of conveying and stacking the packing boxes, the suction plate 33 is always at the lowest height position; when the moving shaft 332 moves from the inclined section of the track hole 223 to the horizontal section, the suction plate 33 is at the highest position relative to the auxiliary conveyor 22, and the pneumatic suction cups 333 on the suction plate 33 are all moved to a height higher than the conveying surface of the auxiliary conveyor 22, so that they can all participate in the suction grabbing, and when moving along the horizontal section of the track hole 223, it is mainly used to grab the packing box movement during unloading.

[0042] With the cooperation of the auxiliary unloading mechanism 3, the double-stage conveyor 2 can also unload the goods in the container. The specific work can be divided into the following steps: the first step is to move the double-stage conveyor 2 to the vicinity of the packing box to be unloaded, and unload the goods in the container one by one from top to bottom and from outside to inside. Here, it should be noted that the inclination adjustment method for the main conveyor 21 is the same when unloading and stacking. When unloading, the height of the conveying surface of the auxiliary conveyor 22 is slightly lower than the bottom height of the packing box to be unloaded.

[0043] In the second step, the stroke cylinder 31 is started to fully extend the output rod, and the adsorption plate 33 moves to the position farthest from the main conveyor 21 and highest relative to the auxiliary conveyor 22.

[0044] The third step is to further adjust and move the pneumatic suction cup 333 closer to the outer wall of the packaging box to be unloaded, thereby completing the suction and grasping.

[0045] The third step is to start the stroke cylinder 31 again to make the output rod fully retract. During this process, when the moving shaft 332 moves along the horizontal section of the track hole 223 toward the inclined section, the suction plate 33 drives the packing box to move synchronously, so that the lower end of the box body of the packing box falls above the two docking conveying sections 222. When the moving shaft 332 moves to the transition position between the horizontal section and the inclined section of the track hole 223, the suction of the pneumatic suction cup 333 is released, and the lower end of the packing box falls on the two docking conveying sections 222. Then the moving shaft 332 continues to move along the inclined section of the track hole 223. When the suction plate 33 completely falls below the conveying surface of the auxiliary conveyor 22, the suction plate 33 is completely removed from the obstruction of the packing box. Then, the two docking conveying sections 222 drive the packing box to move to the auxiliary conveyor 22, and further move and convey it to the main conveyor 21.

[0046] The fourth step is to remove the unloaded and moved packaging box onto the main conveyor 21 .

[0047] It should be added that the difference between unloading and stacking is that during stacking, the packed boxes are directly dropped and stacked, so the stacking robot provided by the present invention can be used for self-stacking throughout the process, while during unloading, when the auxiliary conveyor 22 contacts the bottom surface of the container, the conveying surface of the auxiliary conveyor 22 is also significantly higher than the bottom surface of the container, so the packed boxes stacked on the bottom layer in the container can be unloaded manually, or the packed boxes on the bottom layer can be pulled out one by one with the help of the adsorption and grasping effect of the adsorption plate 33.

[0048] The present invention provides a robot for automatic stacking of container cargo, which is provided with a double-stage conveyor 2 that can extend into the container box, and the double-stage conveyor 2 includes two-stage conveyors, a main conveyor 21 and an auxiliary conveyor 22. By adjusting the conveying inclination angle of the main conveyor 21, the corresponding conveying of cargo to different stacking heights in the container can be completed without changing the loading height outside the container, and the auxiliary conveyor 22 that always maintains horizontal conveying can complete the relay conveying while realizing stable dropping and stacking of the cargo; in addition, it is also equipped with an auxiliary unloading mechanism 3, which, in cooperation with the double-stage conveyor 2, can also complete the automatic unloading of the cargo in the container; in summary, the robot provided by the present invention can complete the automatic conveying and stacking of the cargo in the container under manual assisted operation, and at the same time has the function of automatically unloading the cargo in the container, avoiding the need to enter the container for operation during manual stacking and unloading, greatly improving the environment for manual container cargo loading and unloading operations, reducing the time and physical strength consumed by reciprocating and manual stacking, and improving the cargo loading and unloading efficiency.

[0049] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0050] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0051] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can make many possible changes and modifications without departing from the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A container cargo automatic stacking robot, characterized by: The invention comprises a main base (1), on which a double-stage conveyor (2) for extending into a container body is mounted; the double-stage conveyor (2) comprises a main conveyor (21) and an auxiliary conveyor (22), the main conveyor (21) being horizontally hinged on the main base (1), and the auxiliary conveyor (22) extending and dockingly arranged in the conveying direction of the main conveyor (21); two connecting rod assemblies (23) are horizontally hinged on the main base (1), the main conveyor (21) is horizontally hinged between the two connecting rod assemblies (23), and the auxiliary conveyor (22) is horizontally fixed between the two connecting rod assemblies (23); the main base (1) is also equipped with a driving assembly (24) for driving the main conveyor (21) to rotate around a hinge shaft on the main base (1) to adjust the conveying angle; When the driving assembly (24) drives the main conveyor (21) to rotate and adjust the conveying angle, the auxiliary conveyor (22) is driven by the two connecting rod assemblies (23) to rise and fall synchronously with the end of the main conveyor (21) away from the main base (1), and the auxiliary conveyor (22) always maintains a horizontal conveying state; The auxiliary conveyor (22) is equipped with an auxiliary unloading mechanism (3) for automatically conveying and removing the goods in the container.

2. The automatic container cargo stacking robot according to claim 1, characterized in that: The auxiliary conveyor (22) is equipped with two docking conveying sections (222) at a conveying end away from the main conveyor (21); the two docking conveying sections (222) are symmetrically arranged in a direction horizontally perpendicular to the conveying direction of the auxiliary conveyor (22), and a spacing area is provided between the two docking conveying sections (222); the auxiliary unloading mechanism (3) comprises a suction plate (33) for sucking and grabbing goods; the suction plate (33) is located in the spacing area between the two docking conveying sections (222).

3. The automatic container cargo stacking robot according to claim 2, characterized in that: The auxiliary unloading mechanism (3) further comprises a vertical slide rail (32) which is arranged to be driven and moved along the conveying direction of the auxiliary conveyor (22); the vertical slide rail (32) is located below the auxiliary conveyor (22); the adsorption plate (33) is vertically slidably mounted on the vertical slide rail (32); track holes (223) are provided on both sides of the frame of the auxiliary conveyor (22); the track holes (223) are divided into an inclined section and a horizontal section in a direction away from the main conveyor (21); the inclined section of the track hole (223) is in contact with the main conveyor (21); The horizontal section has an arc transition; a moving shaft (332) is horizontally fixed on the adsorption plate (33) and moves along the two track holes (223); under the guidance of the two track holes (223) on the moving shaft (332), when the vertical slide rail (32) moves in a direction away from the main conveyor (21) and the moving shaft (332) moves along the inclined section of the track hole (223), the adsorption plate (33) moves in the horizontal direction with the vertical slide rail (32), and the adsorption plate (33) slides upward along the vertical slide rail (32).

4. The automatic container cargo stacking robot according to claim 1, characterized in that: The connecting rod assembly (23) comprises a main connecting rod (231) hinged on the main base (1) and a secondary connecting rod (232) hinged on the main connecting rod (231); hinged frames (211) are horizontally symmetrically fixed on both sides of the frame of the main conveyor (21), and the two hinged frames (211) are hinged on two secondary connecting rods (232) in a one-to-one correspondence, and the secondary conveyor (22) is horizontally fixed on the two secondary connecting rods (232); the hinge centers of the main connecting rod (231) and the main conveyor (21) located on the main base (1) are at the same horizontal height, and the spacing between the hinge centers of the main connecting rod (231) and the main conveyor (21) located on the main base (1) is equal to the spacing between the hinge centers of the main connecting rod (231) and the main conveyor (21) located on the secondary connecting rod (232).

5. The automatic container cargo stacking robot according to claim 1, characterized in that: The driving assembly (24) comprises a rocker arm (241) mounted on the main base (1) for horizontal rotation driving, a push-pull arm (242) being horizontally hinged on the rocker arm (241), and the other end of the push-pull arm (242) being horizontally hinged on the bottom end of the frame of the main conveyor (21).

6. The automatic container cargo stacking robot according to claim 1, characterized in that: A pushing plate (224) for pushing goods is fixed on the side end of the frame of the auxiliary conveyor (22) which is located away from the main conveyor (21).

7. The automatic container cargo stacking robot according to claim 3, characterized in that: When the adsorption plate (33) is at the lowest height relative to the auxiliary conveyor (22), the top end of the adsorption plate (33) is lower than the conveying surfaces of both the auxiliary conveyor (22) and the docking conveying section (222).

8. The automatic container cargo stacking robot according to claim 1, characterized in that: When the main conveyor (21) is in a horizontal state, the conveying surface of the main conveyor (21) is flush with the conveying surface of the auxiliary conveyor (22).

9. The automatic container cargo stacking robot according to any one of claims 2 and 3, characterized in that: A plurality of pneumatic suction cups (333) are fixedly arranged in an array on the surface of the suction plate (33) facing away from the main conveyor (21).

10. The automatic container cargo stacking robot according to claim 6, characterized in that: The push plate (224) is broken into two sections, the broken section of the push plate (224) is used for the adsorption plate (33) to avoid the position, and a nylon brush layer is fixed on the push surface of the push plate (224).

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