A loading system adaptive to target vehicle posture

Abstract

The present application relates to a kind of according to the adaptive loading system of target vehicle posture, the conveying carrier plate includes: support bracket, with first rotary drive member is arranged by universal bearing, another support bracket is provided with rotary support disc and swing drive member;Lifting assembly, the lifting assembly includes slope main body, lifting seat, drive cylinder, the slope main body drives the lifting seat to be close to the middle of the rotary support disc and gradually lift;Carrying platform, the first rotary drive member is used to drive the angle of the carrying platform, the lifting seat generates same or different lifting amount according to its relative position with the carrying platform and forms support and limit to the support wheel body;The cross-moving conveying line includes: cross-moving conveying frame, by the cross-moving conveying machine drive, the cross-moving conveying frame is U-shaped, and the opening of the cross-moving conveying frame is towards the front end of the conveying carrier plate;The handling robot includes: intelligent forklift.

Description

Technical Field

[0001] This invention relates to the field of vehicle loading systems, specifically to a vehicle loading system that adapts to the posture of the target vehicle. Background Technology

[0002] With the rapid development of the logistics industry, the volume of goods transported is constantly increasing, and the requirements for loading and unloading efficiency are also getting higher and higher. Traditional loading and unloading methods can no longer meet the needs of modern logistics. Therefore, loading systems are used to automate loading of goods. A loading system is a system used for automated loading of goods. It is widely used in many industries to improve loading efficiency, reduce labor costs, enhance safety, and realize the automation and intelligence of logistics operations.

[0003] The loading system disclosed in CN114789881A, entitled "A Loading System and Control Method Thereof," can receive and transport goods via a lateral conveyor mechanism. After a smart car retrieves the goods from the lateral conveyor mechanism, the mechanism retracts, allowing the smart car to enter the target vehicle via a platform. However, in complex external environments, it is difficult for the vehicle to align with the loading system in one go. Differences in height, angle, and tilt between the vehicle and the loading system can exist, and existing technologies cannot adapt to the vehicle's posture, affecting loading stability and safety.

[0004] The purpose of this invention is to design a vehicle loading system that adapts to the attitude of the target vehicle in order to address the problems existing in the prior art. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides a vehicle mounting system that adapts to the attitude of the target vehicle, which can effectively solve at least one of the problems existing in the prior art.

[0006] The technical solution of this invention is:

[0007] A loading system that adapts to the posture of a target vehicle includes a conveyor plate, a lateral conveyor line, and a handling robot.

[0008] The conveyor plate includes:

[0009] There are two support brackets, one in front of the other. One support bracket is equipped with a first rotary drive component via a universal bearing, and the other support bracket is equipped with a rotary support plate and a swing drive component. The swing drive component drives the rotary support plate to swing around the universal bearing as the center.

[0010] There are two lifting components, which are respectively set at the left and right ends of the rotary support plate. Each lifting component includes a ramp body, a lifting seat, and a drive cylinder. The drive cylinder is used to drive the ramp body. The lifting seat is slidably set on the inclined surface of the ramp body. The lifting seat is provided with a right-angle notch for support. When the ramp body moves closer to the middle of the rotary support plate, the ramp body drives the lifting seat to move closer to the middle of the rotary support plate and gradually lift it.

[0011] A carrying platform is provided, one end of which is connected to the first rotary drive component. The bottom of the other end of the carrying platform is provided with a support wheel, which is mounted on the rotary support disk. The first rotary drive component is used to drive the angle of the carrying platform. The rotary support disk is used to drive the lifting component to swing, thereby changing the relative position of the lifting component and the carrying platform. The lifting seat generates the same or different lifting amount according to its relative position with the carrying platform and supports and limits the support wheel.

[0012] The transverse conveyor line includes:

[0013] A transverse conveyor is positioned across the front end of the conveyor plate below it;

[0014] A transverse conveyor frame, driven by the transverse conveyor, the transverse conveyor frame being U-shaped, with the opening of the transverse conveyor frame facing the front end of the conveyor plate;

[0015] Several unloading stations are set above the transverse conveyor frame, and the several unloading stations and the transverse conveyor frame are connected by a second rotary drive component, thereby changing the orientation of the unloading stations;

[0016] The transport robot includes:

[0017] The intelligent forklift travels on the conveyor plate. When the opening of the transverse conveyor frame enters the front end of the conveyor plate, the intelligent forklift is used to pick up goods from the unloading station. When the opening of the transverse conveyor frame exits the front end of the conveyor plate, the intelligent forklift is used to drive through the conveyor plate to the target vehicle it is docking with.

[0018] Furthermore, the support bracket is provided with limit strips corresponding to the outer and inner rings of the rotary support disk, and the limit strips restrict the swing path of the rotary support disk to swing around the universal bearing as the center;

[0019] The swing drive includes a drive cylinder, the outer shell of which is fixedly disposed on one side of the support bracket corresponding to the rotary support plate, and the telescopic end of the drive cylinder is hinged to the rotary support plate.

[0020] Furthermore, the main body of the ramp is a right-angled triangle structure, the inclined surface of the main body of the ramp is set as a hollow structure, the main body of the ramp is provided with slide rails on the two inner sides of the inclined surface, the main body of the ramp is provided with rotating rollers at the three inner corners, a transmission chain is wound between the three rotating rollers, the transmission chain is connected to the lifting seat, and the slide rail is used to support the part of the transmission chain located on the inclined surface of the ramp body of the ramp.

[0021] A transmission gear is provided on the bottom surface of the ramp body, and a transmission rack is provided on the rotary support disk corresponding to the transmission gear. The transmission gear meshes with the transmission rack. A driven wheel is provided inside the ramp body. The driven wheel meshes with the transmission gear and drives the transmission chain. When the ramp body moves closer to the center of the rotary support disk, the transmission gear drives the transmission chain to move the lifting seat closer to the center of the rotary support disk and gradually lift it.

[0022] Furthermore, the transmission ratio between the passive wheel and the transmission gear is configured such that the displacement of the ramp body toward the center of the rotary support plate is greater than the lateral component generated by the lifting seat climbing along the inclined surface of the ramp body.

[0023] Furthermore, the rotary support plate is provided with a limiting groove corresponding to the moving path of the ramp body, and a limiting block is provided on the bottom surface of the ramp body. The limiting block is inserted into the limiting groove to restrict the moving path of the ramp body.

[0024] Furthermore, the rotary support plate is provided with a plurality of locking holes on one side of the moving path of the ramp body, and the ramp body is provided with locking components. After the ramp body moves into place, the locking components are inserted into the locking holes to lock the ramp body.

[0025] Furthermore, the lifting seat includes mutually perpendicular supporting edges and limiting edges, wherein the supporting edges are used to support the lower part of the supporting wheel body, and the limiting edges are used to limit the lateral displacement of the supporting wheel body.

[0026] Furthermore, the support platform is equipped with a height sensor, and the drive cylinder is equipped with a pressure sensor, a stroke sensor, or a displacement sensor.

[0027] Furthermore, the second rotary drive is positioned at the center of the plurality of feeding stations.

[0028] Therefore, the present invention provides the following effects and / or advantages:

[0029] This application, by setting a rotating support plate, can drive the lifting components to rotate, thereby adjusting the distance between them and the support wheels. At the same time, the path lengths of the two lifting components to reach their nearest support wheels achieve different lifting heights. Furthermore, after reaching the corresponding lifting height, the right-angle notch structure of the lifting seat can clamp or limit it against both sides of the support wheels, preventing the bearing platform from swaying left and right and achieving different height differences on the left and right sides, ultimately realizing adaptive adjustment of pitch and tilt.

[0030] The ramp body of this application is surrounded by a transmission chain. Through the cooperation of the transmission chain with the transmission gear, driven wheel, etc., the transmission chain can drive the lifting seat to climb the slope of the ramp body during the process of the ramp body being pushed. This allows the lifting seat to move closer to the middle of the rotary support plate and gradually rise, thereby controlling the lifting height of both sides of the carrier plate, controlling the tilt angle of the carrier plate, and restricting the left and right position of the carrier plate through the clamping action of the right angle notch.

[0031] The conveyor plate of this application includes a swingable bearing platform that can be aligned with the direction of the corresponding target vehicle. The path length of the two lifting components to the nearest support wheel is adjusted by a rotary support plate to achieve different lifting heights and to limit the left and right movement of the support wheel at the corresponding lifting height, thereby achieving tilt alignment with the target vehicle. In conjunction with the rotatable unloading station of the transverse conveyor line, the angle of the bearing platform is matched, enabling the handling robot to smoothly pick up the goods from the unloading station and ultimately achieve a smooth and successful loading operation.

[0032] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0033] It should be understood that the above summary and the following detailed description of the invention are exemplary and explanatory, and are intended to provide further explanation of the invention as claimed. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of an embodiment of the present invention.

[0035] Figure 2 This is a schematic diagram of the outrigger support structure.

[0036] Figure 3 This is a schematic diagram of the lifting component.

[0037] Figure 4 This is a sectional view of the main body of the slope.

[0038] Figure 5This is a schematic diagram showing the main body of the ramp concealing the lifting seat.

[0039] Figure 6 This is a schematic diagram of the bottom of the main body of the slope.

[0040] Figure 7 This is a schematic diagram of the transverse conveyor line.

[0041] Figure 8 This is an exploded view of the transverse conveyor line.

[0042] Figure 9 This is a schematic diagram of the structure for conveying the carrier plate.

[0043] Figure 10 The bottom of the platform is intended to support this purpose.

[0044] Figure 11 This is a schematic diagram showing the main body of the slope hidden by its outer shell.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100 conveyor plate, 200 transverse conveyor line, 300 handling robot, 1 support bracket, 11 first rotary drive, 12 rotary support plate, 121 locking hole, 122 transmission rack, 13 swing drive, 14 limit bar, 2 lifting assembly, 21 ramp body, 212 slide rail, 213 rotating roller, 214 limit block, 216 transmission gear, 217 driven wheel, 22 lifting seat, 23 drive cylinder, 24 transmission chain, 26 limit groove, 27 locking component, 3 bearing platform, 31 support wheel body, 4 transverse conveyor, 5 transverse conveyor frame, 6 unloading station, 7 second rotary drive. Detailed Implementation

[0047] To facilitate understanding by those skilled in the art, the structure of the present invention will now be described in further detail with reference to the accompanying drawings:

[0048] refer to Figure 1-10 A loading system that adapts to the posture of a target vehicle includes a conveyor plate 100, a transverse conveyor line 200, and a handling robot 300.

[0049] The conveyor plate 100 includes:

[0050] Support bracket 1, there are two in number, one in front of the other. One support bracket 1 is equipped with a first rotary drive component 11 through a universal bearing (not shown), and the other support bracket 1 is equipped with a rotary support disk 12 and a swing drive component 13. The swing drive component 13 drives the rotary support disk 12 to swing around the universal bearing as the center.

[0051] 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 support. 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 lift it.

[0052] A support platform 3 is provided, one end of which is connected to the first rotary drive component 11. A support wheel 31 is provided at the bottom of the other end of the support platform 3. The support wheel is mounted on the rotary support disk 12. The first rotary drive component 11 is used to drive the angle of the support 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 support platform 3. The lifting seat 22 generates the same or different lifting amount according to its relative position with the support platform 3 and supports and limits the support wheel 31.

[0053] In this embodiment, the number of support wheels 31 can be 4 sets, which are set at the bottom of the support frame of the bearing platform 3.

[0054] In this embodiment, the first rotary drive 11 can drive the bearing platform 3 to swing, while the support wheel 31 at the other end of the bearing platform 3 is mounted on the rotary support disk 12. Thus, during the swinging process driven by the first rotary drive 11, the support wheel 31 rolls on the rotary support disk 12, thereby adjusting the angle of the bearing platform 3 to align it with the angle of the vehicle body. When the bearing platform 3 does not change its angle and the rotary support disk 12 is centered, the centerline of the bearing platform 3 is the same as the centerline of the support bracket 1 and the centerline of the rotary support disk 12.

[0055] When the bearing platform 3 swings at a certain angle and the center line of the bearing platform 3 and the rotary support plate 12 are the same, 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 lift it. At this time, when the lifting component 2 on the rotary support plate 12 is activated, the lifting seat 22 moves closer to the middle of the rotary support plate 12 and gradually lifts it, thereby enabling the support wheels 31 on the left and right sides of the bearing platform 3 to be lifted synchronously.

[0056] If the slewing support disk 12 rotates, causing its centerline to differ from the centerline of the support platform 3, then the path lengths of the two lifting components 2 to their nearest support wheel 31 will no longer be the same. Since the lifting seat 22 is provided with a right-angle notch for support, when the ramp body 21 approaches the support wheel 31, it drives the lifting seat 22 to move diagonally upwards towards the centerline of the slewing support disk 12. Thus, different lifting heights are achieved according to the path lengths of the two lifting components 2 to their nearest support wheel 31. At the same time, after reaching the corresponding lifting height, the right-angle notch structure of the lifting seat 22 can clamp or limit the support wheel 31 on both sides, preventing the support platform 3 from swinging left and right and achieving different height differences on the left and right, ultimately achieving adaptive adjustment of pitch and tilt.

[0057] The transverse conveyor line 200 includes:

[0058] A transverse conveyor 4 is positioned across the front end of the conveyor plate 100 below it;

[0059] 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.

[0060] A plurality of feeding stations 6 are arranged 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 component 7, thereby changing the orientation of the feeding stations 6.

[0061] In this embodiment, the opening of the transverse conveyor frame 5 faces the front end of the conveyor plate 100. Therefore, the transverse conveyor frame 5 can be moved laterally until the opening passes through the front end of the conveyor plate 100, thereby conveying the goods through the unloading station 6 to the front end of the conveyor plate 100. At this time, the handling robot 300 can lift its forks to remove the goods from the unloading station 6. After the transverse conveyor frame 5 exits the front end of the conveyor plate 100, the handling robot 300 can drive from the front end of the conveyor plate 100 into the vehicle to be docked in front.

[0062] In this embodiment, since the carrying platform 3 can swing at a certain angle, the orientation of the carrying platform 3 and the unloading station 6 is not on the same straight line. Therefore, by adding a second rotary drive 7 to drive the unloading station 6 to rotate, the orientation of the unloading station 6 can be changed so that it is re-aligned with the carrying platform 3, which facilitates the subsequent handling robot 300 to pick up and place goods on the unloading station 6.

[0063] The transport robot 300 includes:

[0064] The intelligent forklift travels on the conveyor plate 100. When 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 to the target vehicle it docks with.

[0065] The basic structure, function, and control method of the conveyor plate 100, the transverse conveyor line 200, and the handling robot 300 can be found in the existing patent with publication number CN114789881A entitled "A Loading System and Its Control Method".

[0066] The conveyor plate 100 includes a swingable support platform 3 that can be aligned with the direction of the target vehicle. The two lifting components 2 are adjusted by the rotary support plate 12 to reach the nearest support wheel 31, so as to achieve different lifting heights and to limit the left and right of the support wheel 31 at the corresponding lifting height, thereby achieving the tilt angle alignment with the target vehicle. In conjunction with the rotatable unloading station 6 of the transverse conveyor line 200, the angle of the support platform 3 is matched, so that the handling robot 300 can smoothly pick up the goods from the unloading station 6, and finally achieve a smooth and successful loading operation.

[0067] Furthermore, the support bracket 1 is provided with limit strips 14 on the outer and inner rings of the rotary support disk 12, respectively. The limit strips 14 restrict the swing path of the rotary support disk 12 to swing around the universal bearing as the center.

[0068] The swing drive component 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 disk 12. The telescopic end of the drive cylinder is hinged to the rotary support disk 12.

[0069] In this embodiment, the swing path of the rotary support disk 12 is limited by the limiting strip 14, and the connection relationship is achieved through the hinged connection of the extension and retraction end of the drive cylinder. This allows the rotary support disk 12 to swing back and forth between the limiting strips 14 via the linear motion of the drive cylinder, thus adjusting the position of the rotary support disk 12. During the back-and-forth swinging of the rotary support disk 12 between the limiting strips 14, the rotary support disk 12 and the extension and retraction end of the drive cylinder achieve a certain angle self-adjustment through the hinge point.

[0070] Furthermore, the ramp body 21 has a right-angled triangular structure, and the inclined surface of the ramp body 21 is set as a hollow structure. The ramp body 21 has slide rails 212 on the two inner sides of the inclined surface, and rotating rollers 213 are set at the three corners inside the ramp body 21. 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 inclined surface of the ramp body 21.

[0071] 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 drives 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.

[0072] In this embodiment, the core improvement lies in the structure where the lifting seat 22 gradually rises closer to the center of the rotary support disk 12. Firstly, through the cooperation of the transmission rack 122 and the transmission gear 216, when the ramp body 21 is pushed forward, the transmission gear 216 of the ramp body 21 rolls along the transmission rack 122, thereby generating motion and driving the transmission chain 24 to rotate around the periphery of the ramp body. Simultaneously, the transmission chain 24 is connected to the lifting seat 22, which is then driven by the transmission chain 24 to travel along the inclined surface of the ramp body 21. As the lifting seat 22 travels upwards along the inclined surface of the ramp body 21, it also moves closer to the center of the rotary support disk 12.

[0073] In this embodiment, the transmission gear 216 moves forward along the transmission rack 122, and the driven wheel 217 can generate transmission with it, and change the rotation direction of the transmission gear 216 to another direction, so that the lifting seat 22 can be driven to rise through the transmission chain 24.

[0074] Furthermore, 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 rotary support disk 12 is greater than the lateral component generated by the lifting seat 22 climbing along the inclined surface of the ramp body 21.

[0075] In this embodiment, as the ramp body 21 moves closer to the center of the rotary support plate 12, the lifting seat 22 climbs along the inclined surface of the ramp body 21. At this time, the ramp body 21 moves closer to the center of the rotary support plate 12, while the lifting seat 22 moves away from the center of the rotary support plate 12 relative to the ramp body 21. Therefore, by limiting the displacement of the ramp body 21 towards the center of the rotary support plate 12 to be greater than the lateral component generated by the lifting seat 22 climbing along the inclined surface of the ramp body 21, it can be ensured that the lifting seat 22 moves closer to the center of the rotary support plate 12 during the process of being pushed and climbed by the ramp body 21.

[0076] Specifically, the radius of the passive wheel 217 can be set to be greater than the radius of the transmission gear 216, thereby reducing the transmission ratio and making the displacement of the ramp body 21 toward the center of the rotary support plate 12 greater than the lateral component generated by the lifting seat 22 climbing along the inclined surface of the ramp body 21.

[0077] Furthermore, 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.

[0078] Furthermore, 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, and the ramp body 21 is provided with 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.

[0079] This structure restricts the position of the ramp body 21, preventing it from moving, thereby limiting the winding structure of the transmission chain 24 on the ramp body 21, and consequently limiting the height and lateral position of the lifting seat 22. This is because after the drive cylinder 23 drives the lifting seat 22 to receive and limit the support wheel 31, the pressure of the bearing platform 3 on the lifting seat 22 is applied to the drive cylinder 23 through the ramp body 21. At this time, the drive cylinder 23 needs to continuously exert force to keep the support wheel 31 at the corresponding height. Through the cooperation of the locking member 27 and the locking hole 121, the ramp body 21 can be locked, and the drive cylinder 23 can be released.

[0080] Furthermore, 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.

[0081] In this embodiment, the lifting seat 22 can be a right-angled triangle structure with the supporting side being the bottom surface of the lifting seat 22 and the limiting side being the inner surface of the lifting seat 22. Thus, after the lifting support wheel 31 is in place, the limiting side can form a clamping structure to limit the support wheel 31 on both sides.

[0082] Furthermore, the support platform 3 is equipped with a height sensor, and the drive cylinder is equipped with a pressure sensor, a stroke sensor, or a displacement sensor.

[0083] In this embodiment, the height sensor can be a laser sensor or an ultrasonic sensor to identify the lifting height of the support platform 3, and the pressure sensor, stroke sensor or displacement sensor is used to identify whether the drive cylinder has completed its stroke.

[0084] Furthermore, the second rotary drive 7 is disposed at the center of the plurality of feeding stations 6.

[0085] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0086] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0087] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0088] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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. 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). 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 attitude of the target vehicle 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 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).

4. The vehicle loading system that adapts to the attitude of the target vehicle according to claim 1, 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).

5. 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).

6. 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).

7. The vehicle loading system that adapts to the target vehicle's attitude 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.

8. 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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