Truck loading system capable of achieving self-adaption according to target vehicle posture

Abstract

The invention relates to a self-adaptive loading system according to the posture of a target vehicle, a conveying carrier plate comprises a supporting bracket, a first rotary driving part is arranged on one supporting bracket through a universal bearing, and the other supporting bracket is provided with a rotary supporting disc and a swing driving part; the lifting assembly comprises a slope main body, a lifting seat and a driving cylinder, and the slope main body drives the lifting seat to be close to the middle of the rotary supporting disc and to be gradually lifted; the first rotary driving part is used for driving the angle of the bearing platform, and the lifting seat generates the same or different lifting amounts according to the relative position of the lifting seat and the bearing platform and supports and limits the supporting wheel bodies; the transverse moving conveying line comprises a transverse moving conveying rack driven by a transverse moving conveyor, the transverse moving conveying rack is in a U shape, and an opening of the transverse moving conveying rack faces the front end of the conveying carrier plate. The transfer robot comprises an intelligent forklift.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of loading system, and particularly relates to a loading system adaptive to target vehicle posture. BACKGROUND

[0002] With the rapid development of the logistics industry, the transportation volume of goods is increasing, and the requirement for loading and unloading efficiency is also increasing. The traditional loading and unloading method has been unable to meet the needs of modern logistics, so the loading is realized through a loading system. The loading system is a system for automatically loading goods, which is widely used in multiple industries to improve loading efficiency, reduce labor costs, improve safety, and realize the automation and intelligentization of logistics operations.

[0003] The loading system disclosed in the application No. CN114789881A and named as a loading system and a control method thereof can receive and transport goods through a transverse conveying mechanism, and then the intelligent trolley takes the goods from the transverse conveying mechanism, and the transverse conveying mechanism exits, so that the intelligent trolley enters the target vehicle through the platform. However, in a complex external environment, the vehicle is difficult to be aligned with the loading system at one time, and there are height difference, angle difference, inclination difference and the like between the vehicle and the loading system. The prior art cannot be adaptive according to the vehicle posture, which affects the stability and safety of loading.

[0004] In view of the problems existing in the prior art, the present application aims to design a loading system adaptive to target vehicle posture. SUMMARY

[0005] In view of the problems existing in the prior art, the present application aims to design a loading system adaptive to target vehicle posture.

[0006] The technical scheme of the present application is as follows: A loading system adaptive to target vehicle posture, comprising a conveying carrier plate, a transverse conveying line and a carrying robot. The conveying carrier plate comprises: Two support brackets are arranged in front and back, one of the support brackets is provided with a first rotary driving member through a universal bearing, and the other support bracket is provided with a rotary support disc and a swing driving member, the swing driving member drives the rotary support disc to swing with the universal bearing as the center. The lifting assembly is arranged at the left and right ends of the rotary support disc, and comprises a slope body, a lifting seat and a driving cylinder. The driving cylinder is used to drive the slope body. The lifting seat is arranged on the slope surface of the slope body. The lifting seat is provided with a right-angle notch for supporting. When the slope body approaches the middle of the rotary support disc, the slope body drives the lifting seat to approach the middle of the rotary support disc and gradually lift up. The carrying platform is connected to the first rotary driving element at one end, and the bottom of the other end is provided with a support wheel body which is loaded on the rotary support disc. The first rotary driving element is used to drive the angle of the carrying platform. The rotary support disc is used to drive the lifting assembly to swing so as to change the relative position of the lifting assembly and the carrying platform. The lifting seat generates the same or different lifting amount according to the relative position of the lifting seat and the carrying platform, and forms support and limiting for the support wheel body. The horizontal transfer conveying line comprises: The horizontal transfer machine is arranged below the front end of the conveying carrier plate. The horizontal transfer machine frame is driven by the horizontal transfer machine. The horizontal transfer machine frame is in U shape, and the opening of the horizontal transfer machine frame faces the front end of the conveying carrier plate. The horizontal transfer machine frame is driven by the horizontal transfer machine. The horizontal transfer machine frame is in U shape, and the opening of the horizontal transfer machine frame faces the front end of the conveying carrier plate. The horizontal transfer conveying line comprises: The intelligent forklift travels on the conveying carrier plate. When the opening of the horizontal transfer machine frame penetrates into the front end of the conveying carrier plate, the intelligent forklift is used to take goods from the feeding station. When the opening of the horizontal transfer machine frame exits from the front end of the conveying carrier plate, the intelligent forklift is used to drive into the target vehicle through the conveying carrier plate.

[0007] Further, the support bracket is provided with a limiting strip corresponding to the outer ring and the inner ring of the rotary support disc, respectively. The limiting strip limits the swing path of the rotary support disc to swing around the universal bearing as the center. The swing driving element comprises a driving cylinder. The outer shell of the driving cylinder is fixedly arranged on the side of the support bracket corresponding to the rotary support disc. The telescopic end of the driving cylinder is hinged to the rotary support disc.

[0008] Further, the slope body is a right triangle structure, the slope surface of the slope body is provided as a hollow structure, the slope body is provided with slide rails at two inner sides of the slope surface, the slope body is provided with rotating rollers at three corner angles inside the slope body, a transmission chain is wound between the three rotating rollers, the transmission chain is connected with the lifting seat, and the slide rails are used for supporting the transmission chain on the slope surface of the slope body. The bottom surface of the slope body is provided with a transmission gear, the rotary support disc is provided with a transmission rack corresponding to the transmission gear, the transmission gear is engaged with the transmission rack, the slope body is provided with a driven wheel, the driven wheel is engaged with the transmission gear, and the driven wheel is driven to the transmission chain, when the slope body approaches the middle of the rotary support disc, the transmission gear drives the transmission chain to drive the lifting seat to approach the middle of the rotary support disc and gradually lift.

[0009] Further, the transmission ratio of the driven wheel and the transmission gear is configured to make the displacement amount of the slope body approaching the middle of the rotary support disc greater than the transverse component generated by the lifting seat climbing along the slope surface of the slope body.

[0010] Further, the rotary support disc is provided with a limiting groove corresponding to the movement path of the slope body, the bottom surface of the slope body is provided with a limiting block, and the limiting block is inserted into the limiting groove to limit the movement path of the slope body.

[0011] Further, the rotary support disc is provided with a plurality of locking holes corresponding to one side of the movement path of the slope body, the slope body is provided with a locking member, and the locking member is inserted into the locking hole after the slope body is moved to the position, so as to lock the slope body.

[0012] Further, the lifting seat comprises a supporting edge and a limiting edge perpendicular to each other, the supporting edge is used for supporting the lower part of the supporting wheel body, and the limiting edge is used for limiting the transverse displacement of the supporting wheel body.

[0013] Further, the carrying platform is provided with a height sensor, and the driving cylinder is provided with a pressure sensor, a stroke sensor or a displacement sensor.

[0014] Further, the second rotary driving member is arranged at the central position of the plurality of material discharging stations.

[0015] Therefore, the present application provides the following effects and / or advantages: The application can drive the lifting assembly to rotate to adjust the distance between the lifting assembly and the supporting wheel body by setting the rotary support disc, the path length of two lifting assemblies to the closest supporting wheel body realizes different lifting heights, and after reaching the corresponding lifting height, the right-angle notch structure of the lifting seat can be clamped or positioned on both sides of the supporting wheel body to prevent the carrying platform from swinging left and right and realize different height differences left and right, finally realizing the adaptive adjustment of pitch and roll.

[0016] The transmission chain is arranged around the outer periphery of the slope body, and through the cooperation of the transmission chain, the transmission gear and the passive wheel, the transmission chain can drive the lifting seat to climb the slope surface of the slope body during the pushing process of the slope body, realize the action of the lifting seat approaching the middle of the rotary support disc and gradually lifting, thereby controlling the lifting height of the two sides of the carrying plate, realizing the inclination control of the carrying plate, and limiting the left and right positions of the carrying plate through the clamping action of the right-angle notch.

[0017] The conveying carrying plate includes a carrying platform that can swing an angle, can be aligned with the direction of the corresponding target vehicle, and then the path length of the two lifting assemblies to the closest supporting wheel body is adjusted through the rotary support disc to realize different lifting heights and left and right positioning of the supporting wheel body at the corresponding lifting height, realize the inclination alignment with the target vehicle, cooperate with the rotatable feeding station of the transverse conveying line to match the angle of the carrying platform, so that the carrying robot can smoothly take goods from the feeding station, and finally realize a smooth and smooth loading action.

[0018] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and achieved by the structure particularly pointed out in the description and the drawings.

[0019] It should be understood that the above summary of the application and the following detailed description are exemplary and explanatory, and are intended to provide further explanation of the application as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The structure schematic view of the embodiment of the present application.

[0021] Figure 2 The structure schematic view of the supporting leg support.

[0022] Figure 3 The structure schematic view of the lifting assembly.

[0023] Figure 4 The cross-sectional view of the slope body.

[0024] Figure 5A schematic view of the ramp body after hiding the lifting seat.

[0025] Figure 6 A schematic view of the bottom of the ramp body.

[0026] Figure 7 A schematic view of the structure of the horizontal transfer conveyor line.

[0027] Figure 8 A schematic view of the structure of the horizontal transfer conveyor line.

[0028] Figure 9 A schematic view of the structure of the horizontal transfer conveyor line.

[0029] Figure 10 A schematic view of the bottom of the horizontal transfer conveyor line.

[0030] Figure 11 A schematic view of the ramp body after hiding the outer shell.

[0031] Explanation of reference signs: conveying carrier plate 100, horizontal transfer conveyor line 200, transfer robot 300, support bracket 1, first rotary drive 11, rotary support disc 12, locking hole 121, transmission rack 122, swing drive 13, limiting strip 14, lifting assembly 2, ramp body 21, sliding rail 212, rotating roller 213, limiting block 214, transmission gear 216, driven wheel 217, lifting seat 22, drive cylinder 23, transmission chain 24, limiting groove 26, locking piece 27, carrying platform 3, support wheel body 31, horizontal transfer conveyor 4, horizontal transfer conveyor frame 5, material placing station 6, second rotary drive 7. DETAILED DESCRIPTION

[0032] In order to facilitate the understanding of those skilled in the art, the structure of the present application will be further described in detail in combination with the drawings: Reference Figures 1-10 A loading system adaptive to target vehicle posture, comprising a conveying carrier plate 100, a horizontal transfer conveyor line 200, and a transfer robot 300; The conveying carrier plate 100 comprises: support bracket 1, two in number, arranged in front and back, one of which is provided with a first rotary drive 11 through a universal bearing (not shown), and the other is provided with a rotary support disc 12 and a swing drive 13, the swing drive 13 drives the rotary support disc 12 to swing with the universal bearing as the center. The lifting assembly 2 is arranged at the left and right ends of the rotary support disc 12, and the lifting assembly 2 comprises a slope body 21, a lifting seat 22 and a driving cylinder 23. The driving cylinder 23 is used to drive the slope body 21. The lifting seat 22 is arranged on the slope surface of the slope body 21 in a sliding manner. The lifting seat 22 is provided with a right-angle notch for supporting. When the slope body 21 approaches the middle of the rotary support disc 12, the slope body 21 drives the lifting seat 22 to approach the middle of the rotary support disc 12 and gradually lift up. The bearing platform 3 is connected to the first rotary driving part 11 at one end. The bottom of the other end of the bearing platform 3 is provided with a support wheel body 31, which is loaded on the rotary support disc 12. The first rotary driving part 11 is used to drive the angle of the bearing platform 3. The rotary support disc 12 is used to drive the lifting assembly 2 to swing, so as to change the relative position of the lifting assembly 2 and the bearing platform 3. The lifting seat 22 produces the same or different lifting amount according to the relative position of the lifting seat 22 and the bearing platform 3, and forms support and limiting for the support wheel body 31.

[0033] The number of support wheel bodies 31 in the embodiment can be four groups, which are arranged at the bottom of the support frame of the bearing platform 3.

[0034] In the embodiment, the first rotary driving part 11 can drive the bearing platform 3 to swing. At the same time, the support wheel body 31 at the other end of the bearing platform 3 is loaded on the rotary support disc 12. Therefore, in the process of driving the bearing platform 3 to swing by the first rotary driving part 11, the support wheel body 31 rolls and travels on the rotary support disc 12, so as to adjust the angle of the bearing platform 3, and align the angle of the bearing platform 3 with the vehicle body. When the angle of the bearing platform 3 is not changed, and the rotary support disc 12 is centered, the center line of the bearing platform 3 is the same as the center line of the support frame 1, and the center line of the bearing platform 3 is the same as the center line of the rotary support disc 12.

[0035] When the bearing platform 3 swings to a certain angle, and the center line of the bearing platform 3 is the same as the center line of the rotary support disc 12, when the slope body 21 approaches the middle of the rotary support disc 12, the slope body 21 drives the lifting seat 22 to approach the middle of the rotary support disc 12 and gradually lift up. Therefore, when the lifting assembly 2 on the rotary support disc 12 moves, the lifting seat 22 approaches the middle of the rotary support disc 12 and gradually lifts up, so as to synchronously lift up the support wheel bodies 31 on the left and right sides of the bearing platform 3.

[0036] If the rotating support disc 12 rotates so that the center line thereof is different from the center line of the bearing platform 3, the path lengths of the two lifting assemblies 2 to the closest support wheel bodies 31 are no longer the same. Since the lifting seat 22 is provided with a right-angled notch for supporting the support wheel body 31, when the ramp body 21 approaches the support wheel body 31, it drives the lifting seat 22 to run obliquely upward to the center line of the rotating support disc 12, so as to achieve different lifting heights according to the path lengths of the two lifting assemblies 2 to the closest support wheel bodies 31, and at the same time, after reaching the corresponding lifting height, the right-angled notch structure of the lifting seat 22 can be clamped or positioned on both sides of the support wheel body 31, preventing the bearing platform 3 from swinging left and right and achieving different height differences left and right, finally achieving adaptive adjustment of pitch and roll.

[0037] The horizontal transfer conveying line 200 comprises: A horizontal transfer conveyor 4 arranged horizontally below the front end of the conveying carrier plate 100; A horizontal transfer conveyor frame 5 driven by the horizontal transfer conveyor 4, the horizontal transfer conveyor frame 5 is in the shape of a U, and the opening of the horizontal transfer conveyor frame 5 faces the front end of the conveying carrier plate 100; A plurality of unloading stations 6 arranged above the horizontal transfer conveyor frame 5, and a second rotating drive 7 is arranged between the plurality of unloading stations 6 and the horizontal transfer conveyor frame 5, so as to change the orientation of the unloading stations 6; In this embodiment, the opening of the horizontal transfer conveyor frame 5 faces the front end of the conveying carrier plate 100, so the horizontal transfer conveyor frame 5 can horizontally transfer to the opening passing through the front end of the conveying carrier plate 100, so as to convey the goods on the unloading stations 6 to above the front end of the conveying carrier plate 100, at this time, the handling robot 300 can take away the goods on the unloading stations 6 by lifting its forks, and after the horizontal transfer conveyor frame 5 exits the front end of the conveying carrier plate 100, the handling robot 300 can drive from the front end of the conveying carrier plate 100 to the front to dock with the vehicle.

[0038] In this embodiment, since the bearing platform 3 can swing by a certain angle, at this time, the orientation of the bearing platform 3 and the unloading stations 6 are not in a straight line, so by additionally arranging the second rotating drive 7 to drive the unloading stations 6 to rotate, the orientation of the unloading stations 6 can be changed to be aligned with the bearing platform 3 again, which is convenient for the subsequent handling robot 300 to take and place the goods on the unloading stations 6.

[0039] The handling robot 300 comprises: An intelligent forklift runs on the conveying platform 100, when the opening of the transverse conveying frame 5 penetrates the front end of the conveying platform 100, the intelligent forklift is used to take goods from the feeding station 6, when the opening of the transverse conveying frame 5 exits the front end of the conveying platform 100, the intelligent forklift is used to drive through the conveying platform 100 to dock with the target vehicle.

[0040] The basic structure and functions of the conveying platform 100, the transverse conveying line 200, and the carrying robot 300 and the control method can refer to the existing patent with publication number CN114789881A and the name of a loading system and its control method.

[0041] The conveying platform 100 includes a load-bearing platform 3 that can swing an angle, can be aligned with the direction of the corresponding target vehicle, and then adjust the path length of the two lifting assemblies 2 to the closest support wheel body 31 through the rotary support disc 12 to achieve different lifting heights and left and right limit of the support wheel body 31 at the corresponding lifting height, realize the inclination alignment with the target vehicle, and cooperate with the rotatable feeding station 6 of the transverse conveying line 200 to match the angle of the load-bearing platform 3, so that the carrying robot 300 can smoothly take goods from the feeding station 6, and finally realize a smooth and smooth loading action.

[0042] Further, the support bracket 1 is provided with a limiting strip 14 corresponding to the outer ring and the inner ring of the rotary support disc 12, respectively, and the limiting strip 14 limits the swing path of the rotary support disc 12 to swing around the universal bearing as the center; The swing driving member 13 includes a driving cylinder, and the outer shell of the driving cylinder is fixedly arranged on one side of the support bracket 1 corresponding to the rotary support disc 12, and the telescopic end of the driving cylinder is hinged to the rotary support disc 12.

[0043] In this embodiment, the swing path of the rotary support disc 12 is limited by the limiting strip 14, and the rotary support disc 12 is connected to the telescopic end of the driving cylinder through the hinged connection, so that the rotary support disc 12 can swing back and forth between the limiting strips 14 through the linear motion of the driving cylinder, and the position adjustment of the rotary support disc 12 is realized. During the swing of the rotary support disc 12 between the limiting strips 14, the rotary support disc 12 and the telescopic end of the driving cylinder are self-adjusted through the hinge point at a certain angle.

[0044] Further, the slope body 21 is a right triangle structure, the slope surface of the slope body 21 is provided as a hollow structure, the slope body 21 is provided with slide rails 212 at two inner sides of the slope surface, the slope body 21 is provided with rotating rollers 213 at three corner angles inside the slope body 21, a transmission chain 24 is wound between the three rotating rollers 213, the transmission chain 24 is connected with the lifting seat 22, and the slide rails 212 are used for supporting the transmission chain 24 located at the slope surface of the slope body 21. The bottom surface of the slope body 21 is provided with a transmission gear 216, the transmission rack 122 corresponding to the transmission gear 216 is arranged on the rotary support disc 12, the transmission gear 216 is engaged with the transmission rack 122, the slope body 21 is provided with a driven wheel 217 inside, the driven wheel 217 is engaged with the transmission gear 216, and the driven wheel 217 is driven to the transmission chain 24, when the slope body 21 approaches the middle of the rotary support disc 12, the transmission gear 216 drives the transmission chain 24 to drive the lifting seat 22 to gradually approach the middle of the rotary support disc 12 and gradually lift up.

[0045] In the embodiment, the core improvement point is the structure of the lifting seat 22 approaching the middle of the rotary support disc 12 and gradually lifting up. First, through the cooperation of the transmission rack 122 and the transmission gear 216, when the slope body 21 is pushed forward, the transmission gear 216 of the slope body 21 rolls along the transmission rack 122, thereby generating a motion and driving the transmission chain 24 to rotate around the periphery of the slope body. At the same time, the transmission chain 24 is connected with the lifting seat 22, so the lifting seat 22 is driven by the transmission chain 24 to walk along the slope surface of the slope body 21. In the process of the lifting seat 22 walking upwards along the slope surface of the slope body 21, the lifting seat 22 also approaches the middle of the rotary support disc 12.

[0046] In the embodiment, the transmission gear 216 advances along the transmission rack 122, the driven wheel 217 can be driven by the transmission gear 216, and the rotation direction of the transmission gear 216 is converted to another direction, so that the lifting seat 22 can be driven to rise by the transmission chain 24.

[0047] Further, the transmission ratio of the driven wheel 217 and the transmission gear 216 is configured to make the displacement amount of the slope body 21 approaching the middle of the rotary support disc 12 greater than the transverse component generated by the lifting seat 22 climbing along the slope surface of the slope body 21.

[0048] In this embodiment, during the process of the slope body 21 approaching the middle of the rotary support disc 12, the lifting seat 22 climbs along the slope surface of the slope body 21, at this time the slope body 21 approaches the middle of the rotary support disc 12, while the lifting seat 22 is away from the middle of the rotary support disc 12 relative to the slope body 21. Therefore, by limiting the displacement of the slope body 21 approaching the middle of the rotary support disc 12 to be greater than the lateral component generated by the lifting seat 22 climbing along the slope surface of the slope body 21, it can be ensured that the lifting seat 22 approaches the middle of the rotary support disc 12 during the process of being pushed to climb by the slope body 21.

[0049] Specifically, the radius of the passive wheel 217 can be set to be greater than the radius of the transmission gear 216, so as to reduce the transmission ratio, so as to realize that the displacement of the slope body 21 approaching the middle of the rotary support disc 12 is greater than the lateral component generated by the lifting seat 22 climbing along the slope surface of the slope body 21.

[0050] Further, the rotary support disc 12 is provided with a limiting groove 26 corresponding to the movement path of the slope body 21, and the bottom surface of the slope body 21 is provided with a limiting block 214, which is inserted into the limiting groove 26 to limit the movement path of the slope body 21.

[0051] Further, the rotary support disc 12 is provided with a plurality of locking holes 121 corresponding to one side of the movement path of the slope body 21, and the slope body 21 is provided with a locking piece 27, which is inserted into the locking hole 121 after the slope body 21 is moved into position, so as to lock the slope body 21.

[0052] Through this structure, the position of the slope body 21 can be limited so that it no longer moves, thereby limiting the winding structure of the transmission chain 24 on the slope body 21, and further limiting the height and left-right position of the lifting seat 22. Because, after the driving cylinder 23 drives the lifting seat 22 to receive and limit the support wheel body 31, the pressure of the carrying platform 3 on the lifting seat 22 will be applied to the driving cylinder 23 through the slope body 21, at this time the driving cylinder 23 needs to continuously exert force to make the support wheel body 31 maintain at a corresponding height, through the cooperation of the locking piece 27 and the locking hole 121, the slope body 21 can be locked and the driving cylinder 23 can be released.

[0053] Further, the lifting seat 22 comprises mutually perpendicular supporting edges and limiting edges, the supporting edges are used to support the lower part of the support wheel body 31, and the limiting edges are used to limit the lateral displacement of the support wheel body 31.

[0054] In the embodiment, the lifting seat 22 can be a right-angled triangular corner structure, the supporting side is the bottom surface of the lifting seat 22, and the limiting side is the inner side surface of the lifting seat 22, so that the limiting side can form a clamping structure to limit the two sides of the supporting wheel body 31 after the supporting wheel body 31 is positioned.

[0055] Further, the carrying platform 3 is provided with a height sensor, and the driving cylinder is provided with a pressure sensor or a stroke sensor or a displacement sensor.

[0056] In the embodiment, the height sensor can be a laser sensor or an ultrasonic sensor, so as to identify the lifting height of the carrying platform 3, and the pressure sensor or the stroke sensor or the displacement sensor is used to identify whether the driving cylinder completes the stroke.

[0057] Further, the second rotary driving member 7 is arranged at the center position of the plurality of feeding stations 6.

[0058] It should be noted that in the claims the reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unitary claim drawn to several devices, the terms 'first','second', 'third', etc. do not necessarily denote any order, but can be used for names of elements.

[0059] Although preferred embodiments of the application have been described in detail, additional modifications and changes can occur to one skilled in the art once they are aware of the basic inventive concepts. Therefore, the particular embodiments are to be construed in all aspects as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.

[0060] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be interpreted in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific feature, structure, material or characteristic being described is included in at least one embodiment or example of the present application. Descriptive expressions of the above terms in the specification should not be understood as necessarily referring to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples, without contradiction.

Claims

1. A vehicle loading system that adapts to the attitude of a target vehicle, characterized in that: Includes a conveyor plate (100), a transverse conveyor line (200), and a handling robot (300); The conveyor plate (100) includes: There are two support brackets (1), one in front of the other. One support bracket (1) is equipped with a first rotary drive (11) via a universal bearing. The other support bracket (1) is equipped with a rotary support disk (12) and a swing drive (13). The swing drive (13) drives the rotary support disk (12) to swing around the universal bearing. There are two lifting components (2), which are respectively set at the left and right ends of the rotary support plate (12). The lifting component (2) includes a ramp body (21), a lifting seat (22), and a drive cylinder (23). The drive cylinder (23) is used to drive the ramp body (21). The lifting seat (22) is slidably set on the inclined surface of the ramp body (21). The lifting seat (22) is provided with a right-angle notch for supporting. When the ramp body (21) moves closer to the middle of the rotary support plate (12), the ramp body (21) drives the lifting seat (22) to move closer to the middle of the rotary support plate (12) and gradually lifts it. A carrying platform (3) is provided at one end of which is connected to the first rotary drive (11). A support wheel (31) is provided at the bottom of the other end of the carrying platform (3). The support wheel (31) is mounted on the rotary support disk (12). The first rotary drive (11) is used to drive the angle of the carrying platform (3). The rotary support disk (12) is used to drive the lifting component (2) to swing, thereby changing the relative position of the lifting component (2) and the carrying platform (3). The lifting seat (22) generates the same or different lifting amount according to its relative position with the carrying platform (3) and supports and limits the support wheel (31). The transverse conveyor line (200) includes: A transverse conveyor (4) is positioned across the front end of the conveyor plate (100) below the front end; The transverse conveyor frame (5) is driven by the transverse conveyor (4). The transverse conveyor frame (5) is U-shaped, and the opening of the transverse conveyor frame (5) faces the front end of the conveyor plate (100). A plurality of feeding stations (6) are set above the transverse conveyor frame (5), and the plurality of feeding stations (6) and the transverse conveyor frame (5) are connected by a second rotary drive (7) to change the orientation of the feeding stations; The transport robot (300) includes: When the intelligent forklift is traveling on the conveyor plate (100), and the opening of the transverse conveyor frame (5) enters the front end of the conveyor plate (100), the intelligent forklift is used to pick up goods from the unloading station (6). When the opening of the transverse conveyor frame (5) exits the front end of the conveyor plate (100), the intelligent forklift is used to drive through the conveyor plate (100) into the target vehicle it docks with.

2. The vehicle loading system that adapts to the target vehicle's attitude according to claim 1, characterized in that: The support bracket (1) is provided with limit strips (14) on the outer and inner rings of the rotary support plate (12), respectively. The limit strips (14) restrict the swing path of the rotary support plate (12) to swing with the universal bearing as the center. The swing drive (13) includes a drive cylinder. The outer shell of the drive cylinder is fixedly disposed on one side of the support bracket (1) corresponding to the rotary support plate (12). The telescopic end of the drive cylinder is hinged to the rotary support plate (12).

3. The vehicle loading system that adapts to the target vehicle's attitude according to claim 1, characterized in that: The ramp body (21) is a right-angled triangle structure. The ramp body (21) has a hollowed-out slope. The ramp body (21) has slide rails (212) on the two inner sides of the slope. The ramp body (21) has rotating rollers (213) at the three corners inside. A transmission chain (24) is wound between the three rotating rollers (213). The transmission chain (24) is connected to the lifting seat (22). The slide rails (212) are used to support the part of the transmission chain (24) located on the slope of the ramp body (21). A transmission gear (216) is provided on the bottom surface of the ramp body (21), and a transmission rack (122) is provided on the rotating support disk (12) corresponding to the transmission gear (216). The transmission gear (216) meshes with the transmission rack (122). A driven wheel (217) is provided inside the ramp body (21). The driven wheel (217) meshes with the transmission gear (216) and is driven to the transmission chain (24). When the ramp body (21) moves closer to the center of the rotating support disk (12), the transmission gear (216) drives the transmission chain (24) to move the lifting seat (22) closer to the center of the rotating support disk (12) and gradually lift it. A driven wheel (217) is provided inside the ramp body (21), the driven wheel (217) meshes with the transmission gear (216), and the driven wheel (217) is connected to the transmission chain (24).

4. The vehicle loading system that adapts to the target vehicle's attitude according to claim 3, characterized in that: The transmission ratio between the passive wheel (217) and the transmission gear (216) is configured such that the displacement of the ramp body (21) toward the center of the slewing support plate (12) is greater than the lateral component generated by the lifting seat (22) climbing up the ramp body (21).

5. The vehicle loading system that adapts to the target vehicle's attitude according to claim 3, characterized in that: The rotary support plate (12) is provided with a limiting groove (26) corresponding to the moving path of the ramp body (21), and a limiting block (214) is provided on the bottom surface of the ramp body (21). The limiting block (214) is inserted into the limiting groove (26) to restrict the moving path of the ramp body (21).

6. The vehicle loading system that adapts to the target vehicle's attitude according to claim 1, characterized in that: The rotary support plate (12) is provided with a plurality of locking holes (121) on one side of the moving path of the ramp body (21). The ramp body (21) is provided with a locking member (27). After the ramp body (21) moves into place, the locking member (27) is inserted into the locking hole (121) to lock the ramp body (21).

7. The vehicle loading system that adapts to the target vehicle's attitude according to claim 1, characterized in that: The lifting seat (22) includes mutually perpendicular supporting edges and limiting edges. The supporting edges are used to support the lower part of the supporting wheel (31), and the limiting edges are used to limit the lateral displacement of the supporting wheel (31).

8. The vehicle loading system that adapts to the attitude of the target vehicle according to claim 1, characterized in that: The bearing platform (3) is equipped with a height sensor, and the drive cylinder is equipped with a pressure sensor, stroke sensor or displacement sensor.

9. The vehicle loading system that adapts to the attitude of the target vehicle according to claim 1, characterized in that: The second rotary drive (7) is located at the center of the plurality of feeding stations (6).

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