A box material automatic unloading device and method for a freight box

Abstract

The present application relates to the technical field of freight handling equipment, and discloses a box material automatic unloading device and method for a freight box, which comprises a rack, two grabbing unloading devices for dragging out goods in the horizontal direction and capable of controlling the rotation of the goods are symmetrically arranged on the rack, the two grabbing unloading devices are vertically movable on the rack, a follow-up conveying device is movably arranged on the rack, the follow-up conveying device is adjusted in position following the grabbing unloading devices and is always kept below the grabbing unloading devices, and the follow-up conveying device is used for cooperating with the receiving and conveying of the goods dragged out by the grabbing unloading devices. The present application horizontally drags and adjusts the goods to be unloaded, the operation stroke of the unloading hand is short, the follow-up conveying device is synchronously linked, the follow-up conveying device is instantaneously attached to the bottom of the goods for receiving, the height of the follow-up conveying device does not need to be greatly adjusted and reset, a large amount of invalid adjustment stroke is reduced, the process is consecutive without interruption, the continuous transfer of the goods is realized, and the unloading efficiency is improved.

Description

Technical Field

[0001] This invention relates to the technical field of freight loading and unloading equipment, and in particular, to an automatic unloading device and method for cargo containers. Background Technology

[0002] In modern logistics and transportation systems, freight containers, as the core carriers for cargo carrying, protection, and transshipment, are widely used in multimodal transport scenarios such as road, rail, and sea transport. They are the basic equipment for realizing large-scale, standardized, and closed-loop transportation of goods.

[0003] Most existing freight containers are enclosed, long and narrow structures, including standard containers and box trucks. Their overall enclosed, long, and narrow internal space, while effectively ensuring the safety and integrity of goods during long-distance logistics transportation, also cause common industry problems such as difficult unloading operations and low operational efficiency.

[0004] The existing Chinese patent with patent number CN217075943U, entitled "An Automatic Loading and Unloading Machine and an Automatic Loading and Unloading Vehicle System," includes an automatic loading and unloading machine, a telescopic belt conveyor, and a hydraulic lifting platform. The automatic loading and unloading machine includes a frame, a gripping robot, a transfer conveyor line, and a lifting conveyor mechanism. The lifting conveyor mechanism includes a lifting platform and a first conveyor line. The gripping robot moves to the stacking position to grab goods, while the lifting platform drives the first conveyor line to rise and fall vertically to approach the robot. After a single picking and unloading operation is completed, the robot returns to its original position to prepare to grab the next goods. At this time, the first conveyor line lowers and precisely connects with the transfer conveyor line. After the goods are transferred, the lifting platform readjusts the height of the first conveyor line to bring it closer to the robot to receive the next batch of goods, thus completing the continuous picking and unloading operation in a cycle.

[0005] While the aforementioned existing technologies can significantly shorten the work stroke of robotic arms for picking up and placing goods, the subsequent operations require frequent lifting and lowering of the first conveyor line via a lifting platform for alignment. This high-frequency start-stop lifting motion not only easily leads to alignment deviations, resulting in decreased conveyor docking accuracy and problems such as goods jamming, shifting, and falling off, but also necessitates frequent adjustments to the robotic arm's work stroke each time it picks up or places goods, resulting in numerous ineffective movements and further wasting work cycle time. This makes continuous high-speed transfer operations impossible, and the stability and efficiency of automated equipment operation are difficult to guarantee. Therefore, this invention provides an automatic unloading device and method for cargo containers. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide an automatic unloading device and method for cargo containers. This device employs a top-down, same-layer, center-to-side unloading approach, horizontally dragging and adjusting the cargo to be unloaded. The unloading operator's working stroke is short, and a synchronously linked follow-up conveyor ensures immediate contact and acceptance of the cargo bottom. This eliminates the need for significant height adjustments and resetting of the follow-up conveyor, reducing unnecessary adjustments, shortening the work cycle, ensuring continuous and uninterrupted operation, minimizing frequent start-stop losses, and enabling continuous cargo transfer while balancing unloading efficiency and equipment reliability.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: An automatic unloading device for cargo containers includes a frame. Two gripping and unloading devices are symmetrically arranged on the frame for horizontally pulling out goods and controlling the rotation of the goods. The two gripping and unloading devices are vertically movable on the frame. A follow-up conveyor is movably arranged on the frame. The follow-up conveyor follows the gripping and unloading devices to adjust its position and always stays below the gripping and unloading devices. The follow-up conveyor is used to receive and convey the goods pulled out by the gripping and unloading devices. A moving drive component is provided at the bottom of the frame to control the movement and position adjustment of the frame. The unloading gripping device includes an unloading hand and a gripping drive assembly. The gripping drive assembly moves up and down on the frame. The gripping drive assembly controls the unloading hand to move and rotate in the horizontal direction. The unloading hand is equipped with several unloading suction cups for adsorbing goods. The follow-up conveying device includes a main conveying component and an auxiliary conveying component. The auxiliary conveying component is located at the end of the main conveying component near the unloading hand. The main conveying component is movably mounted on the frame. The conveying direction of the auxiliary conveying component is perpendicular to the conveying direction of the main conveying component.

[0008] As a further implementation, the gripping drive assembly includes a steering control component and a linear control component, the linear control component slides vertically on the frame, the steering control component is rotatably connected to the linear control component, and the unloading hand is rotatably connected to the end of the steering control component away from the linear control component.

[0009] As a further implementation, the linear control component includes a translation rod, a translation drive, and a translation support. The translation support is vertically slidably connected to the frame, the translation drive drives the translation rod to move horizontally on the translation support, and the steering control component is rotatably connected to the end of the translation rod.

[0010] As a further implementation, the translation drive includes a translation motor, a drive gear, and a moving rack. The translation motor is fixedly connected to the translation support base, the drive gear rotates coaxially on the output shaft of the translation motor, and the moving rack is fixed to the bottom of the translation rod. The drive gear drives the translation rod to move horizontally by meshing with the moving rack.

[0011] As a further implementation, the steering control component includes a horizontally rotating steering arm, an arm drive, and a hand drive. The arm drive controls the steering arm to rotate at the end of the translation rod, and the hand drive controls the unloading hand to rotate horizontally at the end of the steering arm away from the moving rack.

[0012] As a further implementation, the main conveying component includes a first conveyor belt and a second conveyor belt, the first conveyor belt and the second conveyor belt have the same conveying direction, the first conveyor belt is vertically slidably connected to the frame, one end of the second conveyor belt is connected to the first conveyor belt end to end, and the other end of the second conveyor belt is movably connected to the frame, and the auxiliary conveying component is located on the side of the first conveyor belt away from the second conveyor belt.

[0013] As a further implementation, the auxiliary conveying assembly includes two roller conveying components, which are symmetrically arranged on both sides of the first conveyor belt. Each roller conveying component includes a support frame and a plurality of parallel conveying rollers. The conveying rollers are rotatably connected within the support frame, and the rotation direction of the conveying rollers is perpendicular to the rotation direction of the first conveyor belt. The side of the support frame is flush with the end of the first conveyor belt.

[0014] An automatic unloading method for cargo containers, employing an automatic unloading device for cargo containers, includes the following steps: S1. Use the mobile drive components to drive the unloading device into the cargo container, and adjust the overall operating position of the device according to the cargo stacking position. S2. The unloading hand is driven to move to the top cargo position by the steering control component and the linear control component. The unloading suction cup is attached to the middle position of the side of the box and drags the cargo. The first conveyor belt, the second conveyor belt and the conveyor roller are adjusted in a synchronous linkage so that the lower surface of the box is nearly flush with the upper surface of the first conveyor belt and the conveyor roller with a slight height difference according to the unloading needs. The cargo is supported in real time during the dragging process. When the cargo is unloaded to the bottom layer, the attachment position of the unloading suction cup is the middle position of the top of the box. The first conveyor belt, the second conveyor belt and the conveyor roller are adjusted in a synchronous manner to match the conveying position of the bottom box unloading. The unloading hand lifts the box to a height that can be placed on the first conveyor belt and the conveyor roller and drags the box backward onto the first conveyor belt and the conveyor roller. S3. Unloading proceeds from top to bottom and from center to sides within the same layer. For goods located between two translation bars, the hand drive unit drives the unloading hand to rotate the goods. Simultaneously, the translation motor and drive gear control the moving rack and translation bar to move backward, dragging the goods outward. At the same time, the arm drive unit drives the steering arm to rotate, widening the distance between the two unloading hands to allow the goods to pass through. After the goods are completely dragged onto the first conveyor belt, the suction of the unloading suction cup is disconnected, and the goods are transported to the rear equipment via the first and second conveyor belts. S4. For goods located outside the two translation rods, after the unloading hand is positioned, the unloading suction cup picks up the goods, and the translation motor and drive gear control the moving rack and translation rod to move backward, dragging the goods onto the conveyor roller. Then the suction of the unloading suction cup is disconnected, and the goods are output to the rear equipment in sequence through the conveyor roller, the first conveyor belt, and the second conveyor belt.

[0015] The beneficial effects of the present invention are as follows: This invention uses a moving drive component to propel the entire machine into the cargo container and autonomously adjust its working position. It employs a top-to-bottom and center-to-side unloading sequence within the same layer, ensuring stacking stability. Through the coordinated control of steering and linear control components, the unloading operator's movements are adjusted according to the unloading location, adapting to all cargo stacking areas within the cargo container. After grabbing cargo, the conveyor rollers, first conveyor belt, and second conveyor belt are simultaneously adjusted, allowing the follow-up conveyor device to receive the dragged cargo in real time. This reduces unnecessary adjustment travel, shortens the work cycle, and ensures continuous, uninterrupted operation. It enables continuous, high-speed cargo transfer, reduces frequent start-stop losses, and effectively improves the operational stability and efficiency of the automated unloading system.

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0017] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0018] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the overall structure from another angle in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the gripping and unloading device in an embodiment of the present invention.

[0021] Figure 4 This is a structural schematic diagram of the gripping and unloading device in another embodiment of the present invention.

[0022] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0023] The components include: 1. Frame; 11. Moving drive component; 12. Conveyor support; 2. Unloading hand; 21. Unloading suction cup; 3. Grabbing drive assembly; 31. Steering control component; 311. Steering arm; 312. Arm drive component; 313. Hand drive component; 32. Linear control component; 321. Translation rod; 322. Translation support; 323. Translation motor; 324. Drive gear; 325. Moving rack; 4. Main conveyor assembly; 41. First conveyor belt; 42. Second conveyor belt; 5. Auxiliary conveyor assembly; 51. Conveyor roller; 52. Support frame; 6. First limit rod; 7. Backup bracket; 71. Long slot. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example 1

[0026] An automatic unloading device for cargo containers includes a frame 1. Two gripping and unloading devices are symmetrically arranged on the frame 1 for pulling goods out horizontally and controlling the rotation of the goods. The two gripping and unloading devices are vertically movable on the frame 1. A follow-up conveyor is movably arranged on the frame 1. The follow-up conveyor follows the gripping and unloading devices to adjust its position and always stays below the gripping and unloading devices. The follow-up conveyor is used to receive and convey the goods pulled out by the gripping and unloading devices. A moving drive component 11 is provided at the bottom of the frame 1 to control the movement and position adjustment of the frame 1.

[0027] When unloading is required, the mobile drive component 11 drives the entire device into the cargo container and adjusts the device's position according to the cargo's location. In this embodiment, the mobile drive component 11 can be two self-driven casters and two unpowered casters located at the bottom of the frame 1. The self-driven casters enable adaptive adjustment of the machine's movement, steering, and working position within the cargo container. It should be understood that the mobile drive component 11 is not limited to the caster combination structure disclosed in this embodiment; any drive and walking device capable of autonomously adjusting the machine's working position can be used interchangeably.

[0028] During unloading, goods are unloaded layer by layer from the top, and within the same layer, the unloading sequence is from the middle outwards. After the device reaches the unloading position, the grabbing unloading device is vertically raised and lowered to the top layer of goods, and the goods to be unloaded are dragged horizontally. The position of the goods is adjusted by rotating them during the dragging process according to the unloading position. The follow-up conveyor is raised and lowered in coordination with the grabbing unloading device to adjust the position, so that the follow-up conveyor is in immediate contact with the bottom of the goods to receive them.

[0029] Once the goods are dragged, they can be caught by the follow-up conveyor. The grabbing and unloading device adjusts the position of the goods during the dragging process to avoid the grabbing and unloading device blocking the goods conveying route. The entire process is continuous and uninterrupted, which can realize continuous high-speed transfer of goods, reduce a lot of ineffective adjustment strokes, shorten the operation cycle, and improve unloading efficiency and automation stability.

[0030] The unloading gripping device includes an unloading hand 2 and a gripping drive assembly 3. The gripping drive assembly 3 moves up and down on the frame 1. The gripping drive assembly 3 controls the unloading hand 2 to move and rotate in the horizontal direction. The unloading hand 2 is equipped with several unloading suction cups 21 for adsorbing goods.

[0031] The unloading suction cups 21 are set on the side and bottom of the unloading hand 2. When unloading goods from top to bottom, the unloading suction cups 21 on the side are used to adhere to the side of the goods. When the goods are unloaded to the bottom layer, the unloading suction cups 21 on the bottom of the unloading hand 2 are used to adhere to the top surface of the goods and drag the goods to achieve the gripping of the goods.

[0032] When the goods are unloaded down to the bottom layer, the suction position of the unloading suction cup 21 is the middle position of the top of the box. The follow-up conveyor is simultaneously adjusted to the conveying position to cooperate with the unloading of the bottom box. The unloading hand 2 lifts the box to a height that can be placed on the follow-up conveyor and drags the box backward onto the follow-up conveyor.

[0033] The gripping drive assembly 3 includes a steering control component 31 and a linear control component 32. The linear control component 32 slides vertically on the frame 1. The steering control component 31 is rotatably connected to the linear control component 32. The unloading hand 2 is rotatably connected to the end of the steering control component 31 away from the linear control component 32.

[0034] The linear control component 32 includes a translation rod 321, a translation drive component, and a translation support 322. The translation support 322 is vertically slidably connected to the frame 1. The translation drive component drives the translation rod 321 to move horizontally on the translation support 322. The steering control component 31 is rotatably connected to the end of the translation rod 321.

[0035] The translation drive includes a translation motor 323, a drive gear 324, and a moving rack 325. The translation motor 323 is fixedly connected to the translation support 322. The drive gear 324 rotates coaxially on the output shaft of the translation motor 323. The moving rack 325 is fixed to the bottom of the translation rod 321. The drive gear 324 drives the translation rod 321 to move horizontally by meshing with the moving rack 325.

[0036] A slide rail assembly for stable movement is provided between the translation rod 321 and the translation support 322. The slide rail assembly can improve the stability of the translation rod 321 during translation and the support strength for the unloading hand 2 and the steering arm 311.

[0037] The steering control component 31 includes a horizontally rotating steering arm 311, an arm drive 312, and a hand drive 313. The arm drive 312 controls the steering arm 311 to rotate at the end of the translation rod 321, and the hand drive 313 controls the unloading hand 2 to rotate horizontally at the end of the steering arm 311 away from the moving rack 325.

[0038] The translation motor 323 controls the rotation of the drive gear 324, which meshes with the drive gear 324 via the moving rack 325, driving the translation rod 321 to move back and forth horizontally on the translation support 322. This allows the steering arm 311 and the unloading hand 2 to move back and forth horizontally. The arm drive component 312 can drive the steering arm 311 to rotate during its back and forth movement, and the hand drive component 313 can drive the unloading hand 2 to rotate during its back and forth movement. The translation support 322 slides and rises vertically on the frame 1, which can drive the translation rod 321, steering arm 311, and unloading hand 2 connected to it to move up and down as a whole, thereby adjusting the unloading hand 2 according to the unloading position.

[0039] During unloading operations, the unloading suction cup 21 of the unloading hand 2 needs to be attached to the middle of the cargo suction surface. The translation support 322 is raised and lowered by the driving component of the translation support 322, which drives the translation rod 321, the steering arm 311 and the unloading hand 2 to adjust the overall height. When the preset unloading height is reached, the translation motor 323 and the drive gear 324 control the moving rack 325 and the translation rod 321 to move horizontally, controlling the back and forth extension and retraction of the unloading hand 2 to achieve lateral dragging of the cargo. The arm drive component 312 controls the steering arm 311 to rotate, driving the unloading hand 2 to unload from the middle to both sides, which can unload all cargo stacking areas in the cargo container.

[0040] When unloading hand 2 performs suction unloading, the follow-up conveyor moves under the drive of the follow-up drive component to wait to receive the goods. The upper surface of the follow-up conveyor should be almost flush with the lower surface of the goods with a slight height difference. When the goods are pulled out, they are immediately and smoothly received by the follow-up conveyor without any height difference, so as to avoid the goods from falling and being damaged when they are received.

[0041] When the unloading hand 2 approaches the goods for adsorption, the hand drive 313 controls the unloading hand 2 to rotate, so that the side of the unloading hand 2 equipped with the unloading suction cup 21 is always parallel to the side of the goods. Keeping the unloading suction cup 21 parallel to adsorb the goods can improve the stability of adsorption.

[0042] The follow-up conveying device includes a main conveying component 4 and an auxiliary conveying component 5. The auxiliary conveying component 5 is located at one end of the main conveying component 4 near the unloading hand 2. The main conveying component 4 is movably mounted on the frame 1. The conveying direction of the auxiliary conveying component 5 is perpendicular to the conveying direction of the main conveying component 4.

[0043] The main conveying assembly 4 includes a first conveyor belt 41 and a second conveyor belt 42. The first conveyor belt 41 and the second conveyor belt 42 have the same conveying direction. The first conveyor belt 41 is vertically slidably connected to the frame 1. One end of the second conveyor belt 42 is connected to the first conveyor belt 41 end to end, and the other end of the second conveyor belt 42 is movably connected to the frame 1. The auxiliary conveying assembly 5 is located on the side of the first conveyor belt 41 away from the second conveyor belt 42.

[0044] The auxiliary conveying component 5 includes two roller conveying components, which are symmetrically arranged on both sides of the first conveyor belt 41. Each roller conveying component includes a support frame 52 and several parallel conveying rollers 51. The conveying rollers 51 are rotatably connected to the support frame 52. The rotation direction of the conveying rollers 51 is perpendicular to the rotation direction of the first conveyor belt 41. The side of the support frame 52 is flush with the end of the first conveyor belt 41.

[0045] The auxiliary conveying component 5 consists of multiple conveying rollers 51 within two support frames 52. When the unloading hand 2 drags the goods onto the conveying rollers 51, part of the goods comes into contact with the conveying rollers 51, part of the goods is attracted and dragged by the unloading suction cup 21, and the other part can slide relative to the conveying rollers 51. The conveying rollers 51 will not exert a pulling force on the goods in the opposite direction to the suction force of the unloading suction cup 21, thus avoiding deformation and damage to the goods, as well as other problems that affect unloading efficiency and stability such as suction cup detachment.

[0046] When all the goods have fallen onto the conveyor roller 51, the suction of the unloading suction cup 21 is disconnected. At this time, there is friction between the goods and the conveyor roller 51, thereby transferring the goods to the first conveyor belt 41.

[0047] The conveyor rollers 51 are all driven to rotate by a synchronous transmission component. This synchronous transmission component consists of synchronous pulleys and annular toothed belts mounted on the shaft ends of each conveyor roller 51. The toothed belts are wound around all the synchronous pulleys and are secured by tension pulleys. A motor drives the pulleys to rotate the toothed belts, thus achieving synchronous rotation of multiple conveyor rollers 51. It should be understood that the synchronous transmission component is not limited to the synchronous pulley and toothed belt combination structure disclosed in this embodiment. Any transmission linkage device capable of achieving synchronous, unidirectional rotation of multiple conveyor rollers 51 can be used interchangeably.

[0048] When unloading goods at a specified height is required, the upper surfaces of the first conveyor belt 41, the second conveyor belt 42, and the conveyor roller 51 are arranged with a slight height difference and are almost flush with the lower surface of the corresponding unloaded goods. This ensures that the goods can be smoothly received immediately after being pulled out, with minimal height difference and no obvious height drop, thus avoiding damage to the goods when they are received.

[0049] When the goods are unloaded down to the bottom layer, the first conveyor belt 41, the second conveyor belt 42, and the conveyor roller 51 are simultaneously adjusted to the conveying position to cooperate with the unloading of the bottom layer of boxes. The unloading operator 2 lifts the box to a height that can be placed on the first conveyor belt 41 and the conveyor roller 51, and drags the box backward onto the first conveyor belt 41 and the conveyor roller 51 to ensure the undamaged unloading of the bottom layer of boxes and improve the unloading efficiency.

[0050] When the unloading hand 2 unloads the goods located between the two translation bars 321, the unloading suction cup 21 picks up the goods. Then, under the action of the hand drive 313, the unloading hand 2 drives the goods to rotate. At the same time, the translation motor 323 and the drive gear 324 control the moving rack 325 and the translation bar 321 to move the unloading hand 2 backward, so that the unloading hand 2 drags the goods outward onto the synchronously linked first conveyor belt 41. Meanwhile, the steering arm 311 starts to rotate under the action of the arm drive 312 until the distance between the two unloading hands 2 is large enough for the goods to pass through. At this time, the suction of the unloading suction cup 21 is disconnected, and the goods are all dragged onto the first conveyor belt 41 and then conveyed to the rear equipment via the first conveyor belt 41 and the second conveyor belt 42.

[0051] When the unloading operator 2 unloads goods located outside the two translation rods 321, the unloading operator 2 adjusts to the unloading position, the unloading suction cup 21 picks up the goods to be unloaded, and then the translation motor 323 and drive gear 324 control the moving rack 325 and translation rod 321 to move backward, directly pulling the goods onto the conveyor roller 51. Then the suction of the unloading suction cup 21 is disconnected, and the goods are output to the back-end equipment via the conveyor roller 51, the first conveyor belt 41 and the second conveyor belt 42.

[0052] Both sides of the first conveyor belt 41 are provided with conveyor support seats 12. The conveyor support seats 12 are vertically slidable on the frame 1. The frame 1 is provided with a conveyor drive component, which drives the conveyor support seats 12 to move up and down on the frame 1. Two first limit rods 6 are symmetrically arranged on the second conveyor belt 42. A backup bracket 7 is fixedly connected to the frame 1 and movably connected to the first limit rods 6. The backup bracket 7 has an elongated hole 71, and each first limit rod 6 is slidably connected in the corresponding elongated hole 71. The elongated hole 71 allows the second conveyor belt 42 to follow the first conveyor belt 41 and adjust its height and angle. In addition to supporting the second conveyor belt 42, the backup bracket 7 can also be docked with downstream equipment.

[0053] Both the transmission drive and the translation support 322 drive can use a drive screw pair as the linear drive power source. The drive screw pair consists of a motor, a transmission screw, and a sliding nut. The motor and transmission screw are mounted on the frame 1, and the sliding nut can be fixedly connected to the translation support 322 and the transmission support 12. The drive screw pair relies on the rotation of the screw to convert into linear displacement, thereby realizing the lifting and lowering adjustment of the translation support 322 and the transmission support 12.

[0054] Meanwhile, each drive screw pair is provided with a movable guide rail on both sides, and the translation support 322 and the transmission support 12 are moved and adjusted smoothly through the corresponding movable guide rails.

[0055] This invention is not limited to this lead screw structure; other power components capable of linear drive are all equivalent embodiments.

[0056] The arm drive unit 312 and the hand drive unit 313 can be selected from two sets of motor reduction drive shaft assemblies. The motor reduction drive shaft assembly includes a motor, a reducer and a drive shaft. Each set of motor and reducer can be set on the steering arm 311 and the translation rod 321 nearby. The two drive shafts are respectively set at both ends of the steering arm 311, and each drive shaft is connected to the output end of the corresponding reducer.

[0057] It is understood that the motor reduction drive shaft assembly is the preferred rotary drive structure of this invention, and other drive mechanisms capable of outputting rotational torque can be replaced by equivalent ones.

[0058] The rotatable connection between the unloading arm 2 and the steering arm 311, and between the steering arm 311 and the translation rod 321, is achieved by cross roller bearings to achieve smooth rotation. The cross roller bearings are sleeved on the corresponding drive shafts. The cross roller bearings can simultaneously withstand radial force, axial force and overturning moment generated by cargo load. They have small rotational clearance and high positioning accuracy, which can achieve precise and stable movement of the steering arm 311 and the unloading arm 2.

[0059] The present invention also includes an electronic control module, a pneumatic module, and a vision calculation module. The electronic control module and the pneumatic module are mounted on the frame 1, and the vision calculation module is mounted on the unloading arm 2, the steering arm 311, and the frame 1. The vision calculation module can recognize the three-dimensional image of the cargo container and the device, and calculate the coordinates of the cargo and the moving distance of each component through an algorithm. By communicating with the electronic control module and the pneumatic module, the electronic control module can control the precise movement of each motor, reducer, and self-driving caster wheel on the device, and the pneumatic module can control the adsorption and release of the unloading suction cup 21, thereby achieving a high degree of automation of the overall equipment.

[0060] Example 2

[0061] An automatic unloading method for cargo container materials, employing an automatic unloading device for cargo container materials according to Example 1, includes the following steps: S1. Use the mobile drive component 11 to drive the unloading device to enter the cargo container as a whole, and adjust the overall working position of the device according to the cargo stacking position. S2. The unloading hand 2 is driven to move to the top cargo position by the steering control component 31 and the linear control component 32. The unloading suction cup 21 is attached to the middle position of the side of the box and drags the cargo. The first conveyor belt 41, the second conveyor belt 42 and the conveyor roller 51 are adjusted in a synchronous linkage so that the lower surface of the box is nearly flush with the upper surface of the first conveyor belt 41 and the conveyor roller 51 with a slight height difference according to the unloading needs. The cargo is supported in real time during the dragging process. When the cargo is unloaded to the bottom layer, the attachment position of the unloading suction cup 21 is the middle position of the top of the box. The first conveyor belt 41, the second conveyor belt 42 and the conveyor roller 51 are adjusted to the conveying position to cooperate with the unloading of the bottom box. The unloading hand 2 lifts the box to a height that can be placed on the first conveyor belt 41 and the conveyor roller 51 and drags the box backward onto the first conveyor belt 41 and the conveyor roller 51. S3. Unloading proceeds from top to bottom and from center to sides within the same layer. For goods located between the two translation bars 321, the hand drive 313 drives the unloading hand 2 to rotate the goods. The translation motor 323 and drive gear 324 control the moving rack 325 and translation bar 321 to move backward and drag the goods outward. At the same time, the arm drive 312 drives the steering arm 311 to rotate, widening the distance between the two unloading hands 2 to allow the goods to pass through. After the goods are completely dragged onto the first conveyor belt 41, the suction of the unloading suction cup 21 is disconnected, and the goods are transported to the rear equipment via the first conveyor belt 41 and the second conveyor belt 42. S4. For goods located outside the two translation rods 321, after the unloading hand 2 is positioned, the unloading suction cup 21 picks up the goods. The translation motor 323 and the drive gear 324 control the moving rack 325 and the translation rod 321 to move backward, dragging the goods onto the conveyor roller 51. Then the suction of the unloading suction cup 21 is disconnected, and the goods are output to the rear equipment in sequence through the conveyor roller 51, the first conveyor belt 41, and the second conveyor belt 42.

[0062] Specifically, when unloading is required, the self-drive swivel wheels drive the entire device into the cargo container, and the device's position is adjusted according to the cargo's location.

[0063] During unloading, the goods are unloaded layer by layer from the top layer downwards, and the unloading sequence of goods on the same layer is from the middle to both sides. After the device reaches the stop, the translation motor 323 and the drive gear 324 control the movement of the moving rack 325 and the translation rod 321. The arm drive component 312 drives the steering arm 311 to rotate, and the hand drive component 313 drives the unloading hand 2 to rotate, so that the unloading hand 2 reaches the unloading position in the middle of the top layer.

[0064] The unloading suction cup 21 of the unloading hand 2 needs to be attached to the middle of the cargo suction surface. The conveyor roller 51, the first conveyor belt 41 and the second conveyor belt 42 follow the unloading hand 2 to move to the preset position to wait for the cargo. After the cargo is pulled out, it is immediately and smoothly received and conveyed backward.

[0065] When the unloading hand 2 unloads the goods located between the two translation bars 321, the unloading suction cup 21 picks up the goods. Then, under the action of the hand drive 313, the unloading hand 2 drives the goods to rotate. At the same time, the translation motor 323 and the drive gear 324 control the moving rack 325 and the translation bar 321 to move the unloading hand 2 backward, so that the unloading hand 2 drags the goods outward onto the synchronously linked first conveyor belt 41. Meanwhile, the steering arm 311 starts to rotate under the action of the arm drive 312 until the distance between the two unloading hands 2 is large enough for the goods to pass through. At this time, the suction of the unloading suction cup 21 is disconnected, and the goods are all dragged onto the first conveyor belt 41 and then conveyed to the rear equipment via the first conveyor belt 41 and the second conveyor belt 42.

[0066] When the unloading operator 2 unloads goods located outside the two translation rods 321, the unloading operator 2 adjusts to the unloading position, the unloading suction cup 21 picks up the goods to be unloaded, and then the translation motor 323 and drive gear 324 control the moving rack 325 and translation rod 321 to move backward, directly pulling the goods onto the conveyor roller 51. Then the suction of the unloading suction cup 21 is disconnected, and the goods are output to the back-end equipment via the conveyor roller 51, the first conveyor belt 41 and the second conveyor belt 42.

[0067] When the cargo is unloaded down to the bottom layer, the suction cup 21 is positioned at the top center of the container. The first conveyor belt 41, the second conveyor belt 42, and the conveyor roller 51 are simultaneously adjusted to the conveying position to accommodate the unloading of the bottom layer of the container. The unloading operator 2 lifts the container to a height where it can be placed on the first conveyor belt 41 and the conveyor roller 51, and then drags the container backward onto the first conveyor belt 41 and the conveyor roller 51. Through the dragging and rotation of the unloading operator 2, the task of placing all the cargo on the first conveyor belt 41 and the conveyor roller 51 is completed, thereby realizing the unloading of all the cargo inside the cargo container.

[0068] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0069] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic unloading device for cargo containers, comprising a frame (1), characterized in that: Two gripping and unloading devices are symmetrically arranged on the frame (1) for pulling out goods horizontally and controlling the rotation of goods. The two gripping and unloading devices are vertically movable on the frame (1). A follow-up conveyor is movably arranged on the frame (1). The follow-up conveyor follows the gripping and unloading device to adjust its position and always stays below the gripping and unloading device. The follow-up conveyor is used to receive and convey the goods pulled out by the gripping and unloading device. A moving drive component (11) is provided at the bottom of the frame (1) to control the movement and position adjustment of the frame (1). The unloading gripping device includes an unloading hand (2) and a gripping drive assembly (3). The gripping drive assembly (3) moves up and down on the frame (1). The gripping drive assembly (3) controls the unloading hand (2) to move and rotate in the horizontal direction. The unloading hand (2) is provided with a number of unloading suction cups (21) for adsorbing goods. The follow-up conveying device includes a main conveying component (4) and an auxiliary conveying component (5). The auxiliary conveying component (5) is located at one end of the main conveying component (4) near the unloading hand (2). The main conveying component (4) is movably mounted on the frame (1). The conveying direction of the auxiliary conveying component (5) is perpendicular to the conveying direction of the main conveying component (4).

2. The automatic unloading device for cargo containers according to claim 1, characterized in that: The gripping drive assembly (3) includes a steering control component (31) and a linear control component (32). The linear control component (32) slides vertically on the frame (1). The steering control component (31) is rotatably connected to the linear control component (32). The unloading hand (2) is rotatably connected to the end of the steering control component (31) away from the linear control component (32).

3. The automatic unloading device for cargo containers according to claim 2, characterized in that: The linear control component (32) includes a translation rod (321), a translation drive and a translation support (322). The translation support (322) is vertically slidably connected to the frame (1). The translation drive drives the translation rod (321) to move horizontally on the translation support (322). The steering control component (31) is rotatably connected to the end of the translation rod (321).

4. The automatic unloading device for cargo containers according to claim 3, characterized in that: The translation drive includes a translation motor (323), a drive gear (324), and a moving rack (325). The translation motor (323) is fixedly connected to the translation support base (322). The drive gear (324) rotates coaxially on the output shaft of the translation motor (323). The moving rack (325) is fixed to the bottom of the translation rod (321). The drive gear (324) drives the translation rod (321) to move horizontally by meshing with the moving rack (325).

5. An automatic unloading device for cargo containers according to claim 4, characterized in that: The steering control component (31) includes a horizontally rotating steering arm (311), an arm drive (312), and a hand drive (313). The arm drive (312) controls the steering arm (311) to rotate at the end of the translation rod (321), and the hand drive (313) controls the unloading hand (2) to rotate horizontally at the end of the steering arm (311) away from the moving rack (325).

6. An automatic unloading device for cargo containers according to any one of claims 1-5, characterized in that: The main conveying assembly (4) includes a first conveyor belt (41) and a second conveyor belt (42). The first conveyor belt (41) and the second conveyor belt (42) have the same conveying direction. The first conveyor belt (41) is vertically slidably connected to the frame (1). One end of the second conveyor belt (42) is connected to the first conveyor belt (41) end to end. The other end of the second conveyor belt (42) is movably connected to the frame (1). The auxiliary conveying assembly (5) is located on the side of the first conveyor belt (41) away from the second conveyor belt (42).

7. An automatic unloading device for cargo containers according to claim 6, characterized in that: The auxiliary conveying assembly (5) includes two roller conveying components, which are symmetrically arranged on both sides of the first conveyor belt (41). Each roller conveying component includes a support frame (52) and several parallel conveying rollers (51). The conveying rollers (51) are rotatably connected to the support frame (52). The rotation direction of the conveying rollers (51) is perpendicular to the rotation direction of the first conveyor belt (41). The side of the support frame (52) is flush with the end of the first conveyor belt (41).

8. A method for automatically unloading materials from a freight container, characterized in that, The automatic unloading device for cargo containers according to claims 1-7 includes the following steps: S1. Use the mobile drive component (11) to drive the unloading device into the cargo container and adjust the overall working position of the device according to the cargo stacking position. S2. Drive the unloading hand (2) to the top cargo position through the steering control component (31) and the linear control component (32). The unloading suction cup (21) adsorbs the middle position of the side of the box and drags the cargo. Simultaneously adjust the first conveyor belt (41), the second conveyor belt (42) and the conveyor roller (51) so that the lower surface of the box is arranged with a slight height difference and almost flush with the upper surface of the first conveyor belt (41) and the conveyor roller (51) according to the unloading needs. The cargo is supported in real time during the dragging process. When the cargo is unloaded to the bottom layer, the adsorption position of the unloading suction cup (21) is the middle position of the top of the box. The first conveyor belt (41), the second conveyor belt (42) and the conveyor roller (51) are simultaneously adjusted to the conveying position to cooperate with the unloading of the bottom box. The unloading hand (2) lifts the box to a height that can be placed on the first conveyor belt (41) and the conveyor roller (51) and drags the box backward onto the first conveyor belt (41) and the conveyor roller (51). S3. Unloading is carried out in the order from top to bottom and from the middle to both sides of the same layer. For the goods located between the two translation rods (321), the hand drive (313) drives the unloading hand (2) to rotate the goods. The translation motor (323) and the drive gear (324) control the moving rack (325) and the translation rod (321) to move backward and drag the goods outward to the first conveyor belt (41). At the same time, the arm drive (312) drives the steering arm (311) to rotate, widening the distance between the two unloading hands (2) to allow the goods to pass. After the goods are completely dragged onto the first conveyor belt (41), the suction of the unloading suction cup (21) is disconnected. The goods are then transported to the rear equipment via the first conveyor belt (41) and the second conveyor belt (42). S4. For goods located outside the two translation rods (321), after the unloading hand (2) is positioned, the unloading suction cup (21) adsorbs the goods. The translation motor (323) and drive gear (324) control the moving rack (325) and the translation rod (321) to move backward, dragging the goods onto the conveyor roller (51). Then the suction of the unloading suction cup (21) is disconnected, and the goods are output to the rear equipment in sequence through the conveyor roller (51), the first conveyor belt (41), and the second conveyor belt (42).

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