Soft package cargo handling trolley

Abstract

The application discloses a soft package cargo loading and unloading trolley and relates to the technical field of cargo loading and unloading.The trolley body is provided with a walking mechanism at the bottom, and a conveying channel is arranged in the trolley body; a mechanical arm is arranged on the trolley body and located above the conveying channel, and a clamp is connected to the mechanical arm; a conveying mechanism is arranged in the conveying channel and extends to the front of the mechanical arm; and a guide mechanism comprises a lifting arm arranged at the side of the conveying channel, rotatably connected to the trolley body and connected to a first driving member; a guide tray movably connected to the front end of the lifting arm, with the lower end of the guide tray facing the conveying mechanism to guide the soft package cargo to fall into the conveying mechanism; and an adjusting assembly connected to the guide tray, used for adjusting the included angle between the length direction of the guide tray and the horizontal plane and the included angle between the length direction of the guide tray and the front-back direction.The application can meet the uniform rhythm requirement of soft package cargo unloading, reduce the situation of package blockage, and improve the unloading efficiency and applicability.

Description

Technical Field

[0001] This invention relates to the technical field of cargo loading and unloading, and particularly to a soft-pack cargo loading and unloading trolley. Background Technology

[0002] During the transportation of flexible cargo, it is necessary to pick up, place, transfer, and stack the cargo between different work sites. For example, after flexible cargo is transported to its destination by train, truck, or ship, it needs to be unloaded from the vehicle and transported to a warehouse or other designated location for stacking. Traditionally, manual unloading of the cargo from the vehicle is commonly used, which is labor-intensive, and stacked cargo at higher heights carries the risk of collapse.

[0003] Chinese invention patent CN120756894A discloses a loading and unloading robot, which includes a loading and unloading trolley with a walking mechanism to drive it to move. The loading and unloading trolley is equipped with a robotic arm with a gripper for gripping soft-packaged goods. A conveying mechanism is provided on one side of the robotic arm. After the robotic arm grips the material, it rotates above the conveying mechanism, the gripper releases the material, and the material is sent away by the conveying mechanism, thus realizing automatic unloading of the material.

[0004] In the aforementioned technologies, due to the varying number of layers of goods stacked, the robotic arm's stroke and time for grasping different layers of goods and placing them onto the conveyor mechanism differ, resulting in uneven unloading rhythms. This can easily lead to blockages in the conveyor mechanism and hinders subsequent automatic grabbing and stacking of goods by the robot. Furthermore, the robotic arm requires a significant rotation to place goods onto the conveyor mechanism, resulting in low operational efficiency and a large turning space, thus limiting its application. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a soft-pack cargo loading and unloading trolley that can meet the uniform cycle requirements during soft-pack cargo unloading, reduce the situation of bag blockage, facilitate the subsequent transportation and stacking of soft-pack cargo, and at the same time reduce the stroke of the robotic arm, thereby improving unloading efficiency and applicability.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0007] This invention provides a flexible cargo loading and unloading trolley, the flexible cargo loading and unloading trolley comprising:

[0008] The trolley body has a walking mechanism at its bottom and a conveying channel extending forward and backward within its body.

[0009] A robotic arm is mounted on the trolley body and located above the conveying channel, and the robotic arm is connected to a gripper for grasping soft-packaged goods;

[0010] A conveying mechanism is disposed within the conveying channel and extends to the front of the robotic arm;

[0011] The guiding mechanism includes:

[0012] A lifting arm is provided on the side of the conveying channel. The rear end of the lifting arm is rotatably connected to the trolley body. The axis of rotation of the lifting arm relative to the trolley body is horizontally arranged perpendicular to the front-back direction. The lifting arm is connected to a first driving member for driving the lifting arm to rotate.

[0013] A guide tray is movably connected to the front end of the lifting arm, with the lower end of the guide tray facing the conveying mechanism to guide the soft-packaged goods into the conveying mechanism along the length of the guide tray.

[0014] An adjustment component, connected to the guide tray, is used to drive the guide tray to rotate in order to adjust the angle between the length direction of the guide tray and the horizontal plane, and to adjust the angle between the length direction of the guide tray and the front-back direction.

[0015] In this solution, the trolley body is driven by a walking mechanism to travel to the location for loading and unloading flexible packaged goods. The robotic arm on the trolley body uses grippers to grab the stacked flexible packaged goods and transfer them to a conveyor mechanism. The conveyor mechanism then transports the flexible packaged goods to the rear of the trolley body for transport by a belt conveyor or roller conveyor. The conveyor mechanism is located in a conveyor channel within the trolley body, extending forward and backward. The robotic arm is positioned above the conveyor channel, and the conveyor mechanism extends in front of the robotic arm. After grabbing the flexible packaged goods, the robotic arm can directly place them into the conveyor mechanism below, reducing the robotic arm's rotation stroke, minimizing the required rotation space, reducing the limitations of this flexible packaged goods loading and unloading trolley, and improving the robotic arm's operational efficiency.

[0016] The guide pallet can receive the soft-packaged goods grasped by the robotic arm and guide them smoothly into the conveying mechanism along the length of the pallet. When the soft-packaged goods loading and unloading trolley is unloading multi-layered soft-packaged goods, for soft-packaged goods with a lower layer, the robotic arm can directly grasp them and place them on the conveying mechanism. By controlling the running speed of the robotic arm, the unloading rhythm can be kept basically consistent at this time. As the number of layers and height of the soft-packaged goods to be grasped by the robotic arm gradually increase, the stroke required for the robotic arm to place the soft-packaged goods directly onto the conveyor increases. It becomes difficult to adjust the work cycle by controlling the robotic arm's operating speed. At this point, the robotic arm can place the grasped soft-packaged goods on a guide tray. The guide tray guides the soft-packaged goods along its length and falls into the conveyor, thereby reducing the stroke of the robotic arm and improving the grasping efficiency of soft-packaged goods. At the same time, by adjusting the operating speed of the robotic arm, the height of the lifting arm, and the angle of the guide tray, the unloading operation cycle of the soft-packaged goods can be made to be basically consistent with the unloading operation cycle of the robotic arm directly grasping soft-packaged goods with fewer layers and placing them on the conveyor. This meets the uniform cycle requirement for unloading soft-packaged goods, reduces the possibility of bag blockage, and facilitates the subsequent transportation and stacking of soft-packaged goods.

[0017] Because the axis of rotation of the lifting arm relative to the trolley body is horizontally set perpendicular to the front-to-back direction, the lifting arm can rotate around its rear end in a vertical plane parallel to the front-to-back direction. This allows the guide tray at the front end of the lifting arm to rise and fall vertically, adapting to the loading and unloading needs of soft-packaged goods of different heights and improving the equipment's adaptability to various scenarios. As the number of layers of soft-packaged goods to be grasped and stacked by the robotic arm increases, the lifting arm can be driven by the first drive component to rotate around the connection point between its rear end and the trolley body. This raises the height of the guide tray, reduces the distance between the guide tray and the clamp, and thus reduces the stroke required for the robotic arm to grasp and stack the soft-packaged goods onto the guide tray. This reduces the time required for a single operation by the robotic arm, thereby improving operational efficiency and allowing for adjustment of the unloading rhythm of soft-packaged goods to maintain consistency.

[0018] The adjustment component can simultaneously adjust the pitch angle between the guide tray's length direction and the horizontal plane, as well as the deflection angle between the guide tray's length direction and the front-to-back direction. This allows for flexible adjustment of the guide trajectory based on the specifications of the soft-packaged goods, the drop position, and the conveying speed. It prevents the soft-packaged goods from being thrown obliquely from the guide tray and landing beyond or failing to reach the conveying mechanism, ensuring that the soft-packaged goods on the guide tray enter the conveying mechanism.

[0019] Furthermore, the guide tray is rotatably provided with a plurality of rollers, the axial direction of which is perpendicular to the length direction of the guide tray and parallel to the tray surface, and the plurality of rollers are arranged at intervals along the length direction of the guide tray.

[0020] In this design, multiple rollers are arranged along the length of the guide pallet. The axial direction of the rollers is perpendicular to the length of the guide pallet and parallel to the surface of the guide pallet. Thus, the multiple rollers can guide the soft packaged goods to be conveyed on the surface of the guide pallet along the length of the guide pallet. By adjusting the angle between the length of the guide pallet and the front-back direction, the throwing angle of the soft packaged goods relative to the front-back direction can be adjusted to ensure that the soft packaged goods fall accurately into the conveying mechanism. At the same time, the rollers can reduce the wear between the soft packaged goods and the guide pallet, protecting the appearance and packaging integrity of the soft packaged goods.

[0021] Furthermore, at least one of the multiple rollers is an electric roller, and a synchronous belt is simultaneously fitted around the outside of two adjacent rollers. The multiple rollers are driven to rotate synchronously by the multiple synchronous belts.

[0022] In this solution, electric rollers, in conjunction with synchronous belts, enable all rollers to rotate synchronously and actively, providing active conveying power for flexible packages on the guide pallet. This prevents flexible packages from stalling on the guide pallet due to insufficient weight or high surface friction, thus improving the reliability of the guide pallet for conveying flexible packages. By controlling the rotational speed of the electric rollers, the movement time of the flexible packages on the guide pallet and their initial velocity after being ejected from the guide pallet can be controlled, allowing for further adjustment of the unloading cycle of the flexible packages. Multiple rollers are driven by synchronous belts to maintain consistent rotational speeds, ensuring synchronous movement of all parts of the flexible packages and preventing twisting or skew during conveying, thus maintaining a stable conveying posture.

[0023] Furthermore, the adjustment assembly includes an adjustment seat, a second drive member, and a third drive member. The adjustment seat is rotatably connected to the end of the lifting arm about a first axis, and the guide tray is rotatably connected to the adjustment seat about a second axis. The second drive member is connected to the adjustment seat and is used to drive the adjustment seat to rotate. The third drive member is connected to the guide tray and is used to drive the guide tray to rotate. The second axis is perpendicular to the first axis.

[0024] In this solution, the second driving component drives the adjusting seat to rotate the guide tray around the first axis, and the third driving component drives the guide tray to rotate around the second axis, thereby realizing the angle adjustment of the guide tray in two dimensions. The angle adjustment of the guide tray in the two rotation directions is realized by the second driving component and the third driving component respectively, which improves the accuracy and flexibility of the guide tray angle adjustment, simplifies the control logic of the guide tray angle adjustment, and facilitates subsequent maintenance and repair.

[0025] Furthermore, the first axis extends horizontally perpendicular to the length direction of the lifting arm, and the second driving component includes a second push rod, a driving rack, and a driving gear. The second push rod is connected to the lifting arm and is arranged parallel to the length direction of the lifting arm. The driving rack is arranged parallel to the length direction of the lifting arm and is connected to the driving end of the second push rod. The driving gear is fixedly connected to the adjusting seat and is coaxial with the first axis. The driving gear meshes with the driving rack.

[0026] In this design, the second driving component includes a second push rod, a drive rack, and a drive gear. The second push rod drives the drive rack to translate parallel to the length direction of the lifting arm. As the drive rack moves, it drives the drive gear to rotate, causing the adjusting seat to rotate around a first axis extending horizontally perpendicular to the length direction of the lifting arm. In other words, the adjusting seat rotates in a vertical plane parallel to the lifting arm, causing the guide tray to rotate and adjust the angle between the length direction and the front-back direction of the guide tray, ensuring that the lower end of the guide tray is aligned with the conveying mechanism. This type of second driving component has the advantages of smooth transmission, high load-bearing capacity, and good self-locking performance. After angle adjustment, it can be stably maintained and will not shift due to the load of soft-packaged goods. Furthermore, the second push rod and drive rack are arranged parallel to the length direction of the lifting arm, making full use of the installation space of the lifting arm, resulting in a more compact overall structure and a more rational spatial layout for the guiding mechanism.

[0027] Furthermore, the third driving member includes a third push rod, which is perpendicular to the second axis and not coplanar with the second axis. One end of the third push rod is hinged to the adjusting seat, and the other end of the third push rod away from the adjusting seat is hinged to the guide tray.

[0028] In this design, the two ends of the third push rod are hinged to the guide tray and the adjusting seat, respectively. The third push rod is perpendicular to the second axis and not coplanar with it. Therefore, when the third push rod extends or retracts, it drives the guide tray to rotate around the second axis. Since the second axis is perpendicular to the first axis, the angle between the guide tray and the horizontal plane can be adjusted when the guide tray rotates, i.e., the pitch angle of the guide tray can be adjusted to meet the guiding needs of soft-packed goods of different heights. This type of third drive component has advantages such as simple structure, high load-bearing strength, convenient installation, fast response speed, and a large angle adjustment range.

[0029] Furthermore, the rear end of the conveying mechanism is rotatably connected to the trolley body, and the front end of the conveying mechanism is hinged to a lifting push rod, with the end of the lifting push rod away from the conveying mechanism hinged to the trolley body.

[0030] In this design, the rear end of the conveying mechanism is hinged to the trolley body, and the front end is driven by a lifting push rod. This allows the conveying mechanism to rotate vertically around its rear end, flexibly adjusting the height and conveying slope of the front end to accommodate stacking heights of flexible packaged goods of varying heights. Specifically, when the guide pallet rotates to adjust the angle between its length direction and its front-to-back direction, the conveying mechanism can rotate to adjust its slope, ensuring that the conveying surface of the conveying mechanism is parallel to the lower end of the guide mechanism. When the flexible packaged goods are thrown along the length of the guide pallet and land on the conveying mechanism, the lower part of the goods stably contacts the conveying surface, allowing for a smooth transition. This reduces the probability of the goods bending at the corners due to misalignment between the lower part and the conveying mechanism, preventing jamming or skewing at the beginning of the conveying process and improving the smoothness of the conveying.

[0031] Furthermore, a guide plate is provided on the upper side of the conveying mechanism near the guiding mechanism. The guide plate extends in the front-back direction and is inclined upward in the direction away from the conveying mechanism.

[0032] In this design, an upwardly inclined guide plate is installed on the side of the conveying mechanism. When the soft-packaged goods fall onto the conveying mechanism, the rear end of the soft-packaged goods lands on the conveying surface of the conveying mechanism, while the front end rests against the guide plate. The inclined guide plate facilitates the soft-packaged goods falling onto the conveying mechanism, and when the conveying mechanism drives the soft-packaged goods to move, the soft-packaged goods can be guided to the conveying surface of the conveying mechanism via the guide plate.

[0033] Furthermore, a limiting plate and a transition plate are also provided on the upper side of the conveying mechanism. The limiting plate is located at the rear end of the guide plate and extends vertically in the front-back direction. The transition plate is connected between the guide plate and the limiting plate.

[0034] In this design, a transition plate facilitates the transition from the inclined guide plate to the vertical limiting plate, preventing flexible packaged goods from getting stuck or their packaging from being torn. After the flexible packaged goods fall onto the conveyor mechanism, the conveying surface of the mechanism moves the rear end of the goods backward, while the front end slides down the guide plate and gradually returns to its original position under the obstruction of the transition plate, until the goods are positioned on the conveyor mechanism in the front-to-back direction. The vertically positioned limiting plate provides continuous lateral restraint on the flexible packaged goods in the front-to-back direction, preventing continuous deviation during transport and ensuring stable transport of the goods in the front-to-back direction. This maintains the goods' parallel posture with the conveyor mechanism for subsequent transfer, stacking, and other processes.

[0035] Furthermore, there are two guiding mechanisms, which are respectively located on opposite sides of the conveying mechanism.

[0036] In this design, guide mechanisms are symmetrically arranged on both sides of the conveying mechanism, so that the soft-packaged goods on both sides of the robotic arm can be guided by the guide mechanisms to accurately fall onto the conveying mechanism, thereby improving the applicability of the soft-packaged goods loading and unloading trolley.

[0037] In summary, the present invention has the following beneficial effects:

[0038] In the flexible packaging cargo loading and unloading trolley of this invention, a robotic arm is positioned above the conveying channel, and the conveying mechanism extends in front of the robotic arm. After the robotic arm grasps the flexible packaging cargo, it can directly place the cargo onto the conveying mechanism below. This reduces the robotic arm's rotation stroke, lowers the required turning space for robotic arm operation, reduces the limitations of the trolley, and improves the robotic arm's operational efficiency. When unloading multi-layered flexible packaging cargo, for lower-layered cargo, the robotic arm can directly grasp and place it onto the conveying mechanism. By controlling the robotic arm's operating speed, the unloading cycle can be kept essentially consistent. As the height of flexible packages gradually increases, the robotic arm can place the grasped packages onto a guide pallet. The guide pallet guides the packages along their length and into the conveyor mechanism, reducing the robotic arm's travel and improving the grasping efficiency. Simultaneously, by adjusting the robotic arm's operating speed, the height of the lifting arm, and the angle of the guide pallet, the unloading cycle time of the flexible packages can be made essentially the same as the unloading cycle time of the robotic arm directly grasping lower-layered packages and placing them onto the conveyor mechanism. This satisfies the requirement for a uniform unloading cycle time, reduces package congestion, and facilitates subsequent transportation and stacking of flexible packages. The lifting arm can rotate around its rear end in a vertical plane parallel to the front-to-back direction, allowing the guide pallet to vertically lift and lower to adapt to the loading and unloading needs of flexible packages of different heights, improving the equipment's adaptability to various scenarios. As the number of layers of soft-packaged goods to be grasped by the robotic arm increases, the height of the guide pallet can be increased to reduce the distance between the guide pallet and the gripper. This reduces the travel distance of the robotic arm from grasping the soft-packaged goods to placing them on the guide pallet, thus reducing the time required for a single operation and improving work efficiency. It also allows for adjustment of the unloading rhythm of soft-packaged goods, maintaining a consistent unloading pace. The adjustment component can simultaneously adjust the pitch angle of the guide pallet along its length relative to the horizontal plane, as well as the deflection angle of the guide pallet along its length relative to the front-back direction. This allows for flexible adjustment of the guide trajectory based on the specifications of the soft-packaged goods, their drop position, and the conveying speed, preventing the soft-packaged goods from being thrown obliquely from the guide pallet and landing outside or below the conveying mechanism, ensuring that the soft-packaged goods on the guide pallet enter the conveying mechanism. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural diagram of a soft-pack cargo loading and unloading trolley when grasping soft-pack cargo with a low number of layers, according to an embodiment of the present invention.

[0040] Figure 2 This is a three-dimensional structural diagram of a soft-pack cargo loading and unloading trolley when grasping soft-pack cargo with an increased number of layers, according to an embodiment of the present invention.

[0041] Figure 3 This is a three-dimensional structural diagram of a soft-pack cargo loading and unloading trolley when gripping soft-pack cargo with a further increased number of layers, according to an embodiment of the present invention.

[0042] Figure 4 This is a three-dimensional structural diagram of the trolley body and the guiding mechanism according to an embodiment of the present invention;

[0043] Figure 5 This is a three-dimensional structural schematic diagram of a guide mechanism according to an embodiment of the present invention;

[0044] Figure 6 This is another three-dimensional structural schematic diagram of the guide mechanism according to an embodiment of the present invention.

[0045] In the picture:

[0046] 1000. Soft-pack cargo loading and unloading trolley; 100. Trolley body; 110. Conveying channel; 200. Robotic arm; 210. Fixture; 220. 3D vision camera; 300. Conveying mechanism; 310. Lifting push rod; 320. Guide plate; 330. Limiting plate; 340. Transition plate; 400. Guiding mechanism; 410. Lifting arm; 411. Forward arm; 412. Rear arm; 413. Telescopic push rod; 414. Hinge seat; 415. Guide chute; 420. Guide pallet; 421. Roller; 422. Synchronous belt; 430. Adjusting component; 431. Adjusting seat; 432. Second driving component; 4321. Second push rod; 4322. Drive rack; 4323. Drive gear; 433. Third driving component; 434. Tilting shaft; 440. First driving component; 500. Traveling mechanism. Detailed Implementation

[0047] The invention will now be further described with reference to the accompanying drawings.

[0048] This embodiment provides a soft-pack cargo loading and unloading trolley 1000, as shown in the reference. Figure 1 The flexible cargo loading and unloading trolley 1000 includes a trolley body 100, a robotic arm 200, a conveying mechanism 300, and a guiding mechanism 400. A traveling mechanism 500 is installed at the bottom of the trolley body 100, allowing the trolley body 100 to move to the location for flexible cargo loading and unloading operations. The robotic arm 200, conveying mechanism 300, and guiding mechanism 400 are mounted on the trolley body 100 and move together with it to the flexible cargo unloading location.

[0049] The trolley body 100 is provided with a front-to-back extending conveyor channel 110, which runs through the trolley body 100 in the front-to-back direction. Specifically, in this embodiment, the front-to-back direction is defined as follows: when the soft-package cargo loading and unloading trolley 1000 is operating, the side of the trolley body 100 facing the stacked soft-package cargo is the front side, and the side of the trolley body 100 away from the soft-package cargo is the rear side. A robotic arm 200 is disposed on the trolley body 100 and located above the conveyor channel 110, and the robotic arm 200 is connected to a gripper 210 for grasping the soft-package cargo. A conveying mechanism 300 is disposed within the conveyor channel 110 and extends in front of the robotic arm 200.

[0050] The robotic arm 200 on the trolley body 100 uses the gripper 210 to grab and stack the soft-packaged goods and transfer them to the conveyor mechanism 300. The conveyor mechanism 300 then sends the soft-packaged goods to the rear of the trolley body 100 so that they can be transported away by a belt conveyor or roller conveyor 421.

[0051] The conveying mechanism 300 is installed in the conveying channel 110 inside the trolley body 100. The conveying channel 110 extends along the front and back of the trolley body 100. The robotic arm 200 is installed above the conveying channel 110 and the conveying mechanism 300 extends to the front of the robotic arm 200. After the robotic arm 200 grabs the soft packaged goods, it can directly put the soft packaged goods into the conveying mechanism 300 below. This reduces the stroke of the robotic arm 200, reduces the turning space required for the robotic arm 200 to operate, reduces the limitations of the soft packaged goods loading and unloading trolley 1000, and improves the operating efficiency of the robotic arm 200.

[0052] Reference Figure 1 In this embodiment, the traveling mechanism 500 of the soft-pack cargo loading and unloading trolley 1000 is specifically a track, which is driven by a motor to move the trolley body 100 back and forth. In other embodiments, the soft-pack cargo loading and unloading trolley 1000 can also be a wheeled vehicle or a railcar, and the corresponding traveling mechanism 500 can be a wheel driven by a motor or internal combustion engine, or a slider mechanism located below the trolley body 100 and cooperating with a track.

[0053] In this embodiment, the robotic arm 200 is a six-axis robotic arm, which can drive the gripper 210 to move in multiple dimensions to grasp soft-packaged goods at different heights and positions. A 3D vision camera 220 is provided at one end of the robotic arm 200 connected to the gripper 210. The 3D vision camera 220 is used to collect image information of the soft-packaged goods in the working area in real time, accurately identify the position, posture, and specification parameters of the soft-packaged goods, and transmit the identified data to the control system. The control system adjusts the motion trajectory of the corresponding robotic arm 200, the gripping angle of the gripper 210, and the action state of the guide mechanism 400 according to the posture of the soft-packaged goods to ensure the accuracy of grasping the soft-packaged goods and avoid the problem of unstable grasping caused by irregular posture of the soft-packaged goods.

[0054] In this embodiment, the clamp 210 is a floating suction cup clamp. The clamp 210 can automatically adjust the suction angle according to the actual posture of the soft package, ensuring that the suction cup is tightly attached to the surface of the soft package and that the soft package does not fall off during the gripping process. Each clamp 210 is equipped with a pressure sensor, which detects the contact pressure between the clamp 210 and the soft package and the gripping status in real time, and transmits the detection data to the control system. When the pressure sensor detects that the pressure value has not reached a preset threshold (i.e., the clamp 210 has not gripped the soft package tightly) or detects a pressure value of zero (i.e., the clamp 210 is gripping empty), the control system issues a command to control the corresponding robotic arm 200 and the clamp 210 to re-grip, reducing the probability of empty gripping, missed gripping, and the soft package falling off, ensuring the continuity of the soft package unloading operation, and thus ensuring an efficient work cycle.

[0055] The guide mechanism 400 is located on the side of the trolley body 100 and is used to guide the soft packaged goods grasped by the robotic arm 200 into the conveying mechanism 300.

[0056] Reference Figures 2 to 4 The guiding mechanism 400 includes a lifting arm 410, a guide tray 420, and an adjusting component 430. The lifting arm 410 is located on the side of the conveying channel 110. The guide tray 420 is movably connected to the front end of the lifting arm 410, with its lower end facing the conveying mechanism 300. The guide tray 420 can receive soft-packaged goods grasped by the robotic arm 200 and guide the soft-packaged goods smoothly into the conveying mechanism 300 along its length. The adjusting component 430 is connected to the guide tray 420 and is used to drive the guide tray 420 to rotate to adjust the angle between the length direction of the guide tray 420 and the horizontal plane, as well as the angle between the length direction of the guide tray 420 and the front-back direction.

[0057] The lifting arm 410 is elongated, with its rear end rotatably connected to the trolley body 100 and its front end extending towards the front of the trolley body 100. The axis of rotation of the lifting arm 410 relative to the trolley body 100 is perpendicular to the front-back direction and horizontally positioned. The lifting arm 410 is connected to a first driving member 440 for driving the rotation of the lifting arm 410. Thus, under the drive of the first driving member 440, the lifting arm 410 can rotate around its rear end in a vertical plane parallel to the front-back direction, thereby driving the guide tray 420 at the front end of the lifting arm 410 to rise and fall vertically. This adapts to the loading and unloading needs of soft-packaged goods of different heights, improving the equipment's scenario adaptability.

[0058] Reference Figure 1When the soft-pack cargo loading and unloading trolley 1000 unloads multi-layered soft-pack cargo, for soft-pack cargo with a lower number of layers, the robotic arm 200 can directly grab and place it on the conveying mechanism 300. By controlling the running speed of the robotic arm 200, the unloading rhythm can be kept basically consistent at this time.

[0059] Reference Figure 2 and Figure 3 When the number of layers of soft-packaged goods to be grasped by the robotic arm 200 increases, and the height of the soft-packaged goods also increases, the stroke required for the robotic arm 200 to directly place the soft-packaged goods onto the conveyor mechanism 300 increases, making it difficult to adjust the work cycle by controlling the operating speed of the robotic arm 200. In this case, the robotic arm 200 can place the grasped soft-packaged goods on the guide tray 420. The guide tray 420 guides the soft-packaged goods to move along its length and fall into the conveyor mechanism 300, thereby reducing the stroke of the robotic arm 200 and improving the grasping efficiency of the soft-packaged goods. At the same time, by adjusting the operating speed of the robotic arm 200, the height of the lifting arm 410, and the angle of the guide tray 420, the unloading operation cycle of the soft-packaged goods can be made basically consistent with the unloading operation cycle of the robotic arm 200 directly grasping soft-packaged goods with a lower number of layers and placing them onto the conveyor mechanism 300. This satisfies the requirement for a uniform cycle when unloading soft-packaged goods, reduces the possibility of bag blockage, and facilitates the subsequent transportation and stacking of soft-packaged goods.

[0060] As the number of layers of soft-packaged goods to be grasped and stacked by the robotic arm 200 increases, the first drive unit 440 can drive the lifting arm 410 to rotate around its rear end and the rotating connection point with the trolley body 100, thereby raising the height of the guide tray 420 and reducing the distance between the guide tray 420 and the clamp 210. This reduces the stroke of the robotic arm 200 in grasping and stacking the soft-packaged goods onto the guide tray 420, reduces the time required for a single operation of the robotic arm 200, and thus improves the work efficiency. It also enables the adjustment of the unloading rhythm of soft-packaged goods, keeping the unloading rhythm of soft-packaged goods consistent.

[0061] In this embodiment, the adjustment component 430 can simultaneously adjust the pitch angle between the guide tray 420 and the horizontal plane, as well as the deflection angle between the guide tray 420 and the front-back direction. This allows for flexible adjustment of the guide trajectory based on the specifications, drop position, and conveying speed of the soft-packaged goods. This prevents the soft-packaged goods from being thrown obliquely from the guide tray 420 and landing beyond or below the conveying mechanism 300, ensuring that the soft-packaged goods on the guide tray 420 enter the conveying mechanism 300.

[0062] Specifically, in this embodiment, when the front end of the lifting arm 410 rotates upward to increase the height of the guide tray 420, the adjusting component 430 drives the guide tray 420 to rotate in one direction to increase the pitch angle between the guide tray 420 and the horizontal plane, thereby increasing the tilt angle of the guide tray 420 relative to the horizontal plane. This increases the initial angle of the soft packaged goods relative to the vertical plane when they are thrown from the lower end of the guide tray 420 and undergo a projectile motion. This prevents the soft packaged goods from displacing too much in the width direction (i.e., the horizontal direction perpendicular to the front and rear directions) of the conveying mechanism 300 due to the increase in the height of the guide tray 420, and thus falling out of the conveying mechanism 300 from the other side of the conveying mechanism 300. Simultaneously, the adjusting component 430 drives the guide pallet 420 to rotate in another direction to adjust the angle between the length direction and the front-back direction of the guide pallet 420. This causes the lower end of the guide pallet 420 to swing backward, so that the lower end of the guide pallet 420 faces the conveying mechanism 300. This prevents the lower end of the guide pallet 420 from facing the front of the conveying mechanism 300 after the lifting arm 410 rotates upward, which would cause the soft packaged goods to be thrown off the guide pallet 420 and fall in front of the conveying mechanism 300. Therefore, after the lifting arm 410 rotates to adjust the height of the guide pallet 420, the adjusting component 430 adjusts the pitch angle of the guide pallet 420 and the angle between the length direction and the front-back direction of the guide pallet 420, ensuring that the soft packaged goods accurately fall into the conveying mechanism 300 after being guided by the guide pallet 420.

[0063] Reference Figures 4 to 6 In this embodiment, the lifting arm 410 includes a front arm 411 and a rear arm 412. Both the front arm 411 and the rear arm 412 are elongated. The rear end of the rear arm 412 is hinged to the trolley body 100. The front arm 411 and the rear arm 412 are arranged in the same line, and the front arm 411 is slidably connected to the rear arm 412.

[0064] Specifically, the forearm 411 is a hollow metal channel-shaped component, sleeved over the rear arm 412, which can slide along the inner cavity of the forearm 411. The first drive member 440 is connected to the lower side of the rear arm 412, ensuring that the forearm 411 does not extend or retract when the first drive member 440 drives the lifting arm 410 to rotate. The guide tray 420 is connected to the forearm 411, allowing the guide tray 420 to extend and retract relative to the rear arm 412 as the forearm 411 extends and retracts, thus adjusting the position of the guide tray 420.

[0065] A telescopic push rod 413 connects the forearm 411 and the rear arm 412. The length direction of the telescopic push rod 413 is parallel to the length directions of the rear arm 412 and the forearm 411. When the telescopic push rod 413 extends, it pushes the forearm 411 to extend away from the rear arm 412, thus extending the overall length of the lifting arm 410. When the telescopic push rod 413 retracts, it pulls the forearm 411 to retract towards the rear arm 412, thus reducing the overall length of the lifting arm 410.

[0066] Therefore, when the lifting arm 410 rotates to adjust the height of the guide tray 420, the lifting arm 410 can extend and retract to adjust its length to match the height adjustment of the guide tray 420, and simultaneously adjust the position of the guide tray 420 back and forth, so as to facilitate the control of the landing point of the soft packaged goods thrown from the guide tray 420 on the conveying mechanism 300, and also facilitate the program control of the robotic arm 200 to grab the soft packaged goods and place them on the guide tray 420.

[0067] In this embodiment, by adjusting the length of the lifting arm 410, the guide tray 420 is always located in front of the conveying mechanism 300, so as to further reduce the stroke of the robotic arm 200 in grabbing soft packaged goods and placing them on the guide tray 420. At the same time, the trolley body 100 and the conveying mechanism 300 can maintain a large gap with the stacked soft packaged goods, reducing the probability of collision between the trolley body 100 and the conveying mechanism 300 and the stacked soft packaged goods.

[0068] Reference Figure 5 and Figure 6 In this embodiment, the first driving member 440 includes a first push rod, which is parallel to or coincides with the rotation plane of the lifting arm 410. One end of the first push rod is hinged to the trolley body 100, and the other end of the first push rod is hinged to the rear arm 412 of the lifting arm 410. When the first push rod extends or retracts, it pushes and pulls the lifting arm 410 to rotate vertically.

[0069] In this embodiment, the first push rod is specifically an electric push rod, which is electrically connected to the control system of the soft-pack cargo loading and unloading trolley 1000 so that the control system can control the first push rod in conjunction with the control system. In addition, in other embodiments, the first push rod may also be a pneumatic push rod.

[0070] In other embodiments, the first drive member 440 may also be a lead screw and nut mechanism, a gear and rack mechanism, or other suitable linear drive mechanism. In other embodiments, the first drive member 440 may also be a motor, which is connected to the hinge shaft of the lifting arm 410 and the trolley body 100 to drive the lifting arm 410 to rotate.

[0071] The adjustment assembly 430 includes an adjustment seat 431, a second drive member 432, and a third drive member 433. The adjustment seat 431 is rotatably connected to the forearm 411 of the lifting arm 410 about a first axis. The second drive member 432 is connected to the adjustment seat 431 and is used to drive the adjustment seat 431 to rotate. The guide tray 420 is rotatably connected to the adjustment seat 431 about a second axis. The third drive member 433 is connected to the guide tray 420 and is used to drive the guide tray 420 to rotate. The second axis is perpendicular to the first axis.

[0072] Therefore, the second driving component 432 drives the adjusting seat 431 to rotate the guide tray 420 around the first axis, and the third driving component 433 drives the guide tray 420 to rotate around the second axis, thereby realizing the angle adjustment of the guide tray 420 in two dimensions. The angle adjustment of the guide tray 420 in the two rotation directions is realized by the second driving component 432 and the third driving component 433 respectively, which improves the accuracy and flexibility of the angle adjustment of the guide tray 420, simplifies the control logic of the angle adjustment of the guide tray 420, and facilitates subsequent maintenance and repair.

[0073] In this embodiment, the first axis is perpendicular to the length direction of the lifting arm 410 and extends horizontally, that is, the first axis is parallel to the rotation axis of the lifting arm 410 and the trolley body 100. The second driving member 432 can drive the adjusting seat 431 to rotate in a vertical plane parallel to the front and rear directions, so as to drive the guide tray 420 to swing in the front and rear directions and adjust the angle between the length direction of the guide tray 420 and the front and rear directions, so that the lower end of the guide tray 420 is aligned with the conveying mechanism 300 so as to guide the soft packaged goods to the conveying mechanism 300.

[0074] In addition, in other embodiments, the first axis may also be perpendicular to the length direction of the lifting arm 410 and extend vertically, and the second drive member 432 may drive the adjustment seat 431 to rotate in a plane perpendicular to the vertical plane and parallel to the lifting arm 410, so as to drive the guide tray 420 to swing in the front-back direction and adjust the angle between the length direction and the front-back direction of the guide tray 420.

[0075] In this embodiment, a hinge seat 414 is provided on the upper side of the forearm 411, and an adjustment seat 431 is hinged to the hinge seat 414. The hinge axis of the adjustment seat 431 and the hinge seat 414 extends horizontally perpendicular to the front-back direction, and the axis of the hinge axis is the first axis.

[0076] In other embodiments, the adjustment seat 431 may also be rotatably connected to the front end, sides or under the forearm 411.

[0077] In this embodiment, the second driving component 432 includes a second push rod 4321, a driving rack 4322, and a driving gear 4323. The second push rod 4321 is connected to the forearm 411 of the lifting arm 410 and is arranged parallel to the length direction of the lifting arm 410. The driving rack 4322 is arranged parallel to the length direction of the lifting arm 410 and is connected to the driving end of the second push rod 4321. The driving gear 4323 is fixedly connected to the adjusting seat 431 and is coaxial with the first axis. The driving gear 4323 meshes with the driving rack 4322.

[0078] The second push rod 4321 drives the drive rack 4322 to translate parallel to the length direction of the lifting arm 410. As the drive rack 4322 moves, it drives the drive gear 4323 to rotate, thereby causing the adjusting seat 431 to rotate around a first axis extending horizontally perpendicular to the length direction of the lifting arm 410. In other words, the adjusting seat 431 rotates in a vertical plane parallel to or coinciding with the lifting arm 410, driving the guide tray 420 to rotate and adjust the angle between the length direction and the front-back direction of the guide tray 420. This second driving component 432 has the advantages of smooth transmission, high load-bearing capacity, and good self-locking performance. After angle adjustment, it can be stably maintained and will not shift due to the load of soft-packed goods. At the same time, the second push rod 4321 and the drive rack 4322 are arranged parallel to the length direction of the lifting arm 410, making full use of the installation space of the lifting arm 410, resulting in a more compact overall structure and a more rational spatial layout for the guiding mechanism 400.

[0079] In this embodiment, the forearm 411 of the lifting arm 410 is provided with a guide groove 415. The inner cavity of the guide groove 415 is parallel to the length direction of the lifting arm 410. The upper side of the guide groove 415 is open. The drive rack 4322 is slidably disposed in the guide groove 415 along the length direction of the guide groove 415. The guide groove 415 limits the drive rack 4322 from below and to the side. The drive gear 4323 is disposed above the drive rack 4322 and meshes with the drive rack 4322. The drive gear 4323 limits the drive rack 4322 from above, thereby making the structure of the second drive member 432 more stable and reasonable.

[0080] In this embodiment, the second push rod 4321 is specifically an electric push rod. The front end of the second push rod 4321 is hinged to the rear end of the drive rack 4322, and the rear end of the second push rod 4321 is hinged to the side of the forearm 411. This structure reduces the assembly precision required between the second push rod 4321 and the drive rack 4322, and reduces the probability of the drive rack 4322 jamming.

[0081] In addition, in other embodiments, the second push rod 4321 may also be fixedly connected to the forearm 411.

[0082] In addition, in other embodiments, the second push rod 4321 may also be a pneumatic push rod or other linear drive component. In other embodiments, the second push rod 4321 may also be replaced with a motor gear structure, in which the motor drives the gear to rotate, and the gear in turn drives the drive rack 4322 to move.

[0083] In addition, in other embodiments, the second driving member 432 may also be a rotating driving member such as a motor, with its motor shaft connected to the adjusting seat 431 to directly drive the adjusting seat 431 to rotate.

[0084] In this embodiment, a tilting shaft 434 is provided on the upper side of the adjusting seat 431. The tilting shaft 434 can rotate around its axis, which is the second axis. The tilting shaft 434 is parallel to or coincides with the rotation surface of the lifting arm 410. The surface of the guide tray 420 is parallel to the tilting shaft 434, and the guide tray 420 is connected to the tilting shaft 434. Thus, the guide tray 420 can rotate around the axis (second axis) of the tilting shaft 434 to adjust the pitch angle of the guide tray 420 relative to the horizontal plane.

[0085] In addition, in other embodiments, the first axis and the second axis can be interchanged, that is, the first axis is set parallel to the vertical plane and the second axis extends horizontally perpendicular to the lifting arm 410, so that the adjusting seat 431 rotates to adjust the pitch angle of the guide tray 420 relative to the horizontal plane, and the guide tray 420 swings back and forth to adjust the angle between its length direction and the front and back directions.

[0086] In this embodiment, the third driving component 433 includes a third push rod, which is perpendicular to the second axis and not coplanar with it. One end of the third push rod is hinged to the adjusting seat 431, and the other end away from the adjusting seat 431 is hinged to the guide tray 420. When the third push rod extends or retracts, it can drive the guide tray 420 to rotate around the second axis. When the guide tray 420 rotates, its angle with the horizontal plane can be adjusted, that is, the pitch angle of the guide tray 420 can be adjusted to meet the guiding needs of soft-packed goods of different heights. This third driving component 433 has the advantages of simple structure, good load-bearing strength, convenient installation, fast response speed, and large angle adjustment range.

[0087] In other embodiments, the third push rod may also be a pneumatic push rod. In other embodiments, the third drive member 433 may also be other suitable linear drive members. In other embodiments, the third drive member 433 may also be a motor driven to the tilting shaft 434.

[0088] In this embodiment, the guide pallet 420 is rotatably equipped with multiple rollers 421. The axial direction of the rollers 421 is perpendicular to the length direction of the guide pallet 420 and parallel to the surface of the guide pallet 420. The multiple rollers 421 are arranged at intervals along the length direction of the guide pallet 420. The multiple rollers 421 can guide the soft packaged goods to be conveyed on the surface of the guide pallet 420 along the length direction of the guide pallet 420. By adjusting the angle between the length direction of the guide pallet 420 and the front-back direction, the throwing angle of the soft packaged goods relative to the front-back direction can be adjusted, ensuring that the soft packaged goods fall accurately into the conveying mechanism 300. At the same time, the arrangement of the rollers 421 can reduce the wear between the soft packaged goods and the guide pallet 420, protecting the appearance and packaging integrity of the soft packaged goods.

[0089] In addition, in other embodiments, the guide pallet 420 may not be provided with rollers 421, but instead with limiting baffles on its front and rear sides. The limiting baffles extend along the length of the guide pallet 420 to guide soft-packaged goods to move along the length of the guide pallet 420.

[0090] In this embodiment, at least one of the multiple rollers 421 is an electric roller. A motor is installed inside the electric roller, and the motor is fixedly connected to the roller's shaft. The motor shaft is connected to the outer casing of the electric roller, allowing the electric roller to rotate under the drive of the motor. A synchronous belt 422 is simultaneously fitted around the outside of two adjacent rollers 421. The multiple rollers 421 are driven to rotate synchronously through the synchronous belts 422. The electric roller, in conjunction with the synchronous belts 422, enables all rollers 421 to rotate synchronously and actively, thereby providing active conveying power for soft-packaged goods on the guide pallet 420. This prevents soft-packaged goods from stopping on the guide pallet 420 due to insufficient weight or high surface friction, improving the reliability of the guide pallet 420 when conveying soft-packaged goods.

[0091] In other embodiments, instead of an electric roller, a motor may be installed on the guide tray 420 and the roller 421 may be driven to rotate by a belt or chain.

[0092] In this embodiment, friction stripes are provided on the surface of the roller 421 to enhance the friction between the roller 421 and the flexible packaged goods, so that the flexible packaged goods do not move on the guide pallet 420 when the roller 421 is not rotating. By controlling the rotation speed of the electric roller, the movement time of the flexible packaged goods on the guide pallet 420 and the initial velocity after being thrown from the guide pallet 420 can be controlled, so as to further adjust the unloading rhythm of the flexible packaged goods. Multiple rollers 421 are driven by a synchronous belt 422 to maintain consistent rotation speed, so that all parts of the flexible packaged goods move synchronously, avoiding twisting or skewing of the flexible packaged goods during the conveying process and maintaining a stable conveying posture.

[0093] Reference Figure 1 and Figure 2 In this embodiment, the conveying mechanism 300 is specifically a belt conveyor. The belt of the belt conveyor extends in the front-to-back direction to transport the soft-packaged goods through the conveying channel 110 in the front-to-back direction. The flat conveying surface of the belt conveyor facilitates the stable falling of the soft-packaged goods into the conveying mechanism 300. In other embodiments, the conveying mechanism 300 may also be a roller conveyor 300.

[0094] In this embodiment, the rear end of the conveying mechanism 300 is rotatably connected to the trolley body 100, and the front end of the conveying mechanism 300 is hinged to a lifting push rod 310. The end of the lifting push rod 310 away from the conveying mechanism 300 is hinged to the trolley body 100. When the lifting push rod 310 extends or retracts, the conveying mechanism 300 can rotate vertically around its rear end to flexibly adjust the height of the front end of the conveying mechanism 300 and the conveying slope, adapting to different stacking heights of soft-packaged goods.

[0095] Specifically, when the guide pallet 420 rotates to adjust the angle between its length direction and its front-to-back direction, the conveying mechanism 300 can rotate to adjust its slope, so that the conveying surface of the conveying mechanism 300 is parallel to the lower end of the guide mechanism 400. When the soft package is thrown along the length direction of the guide pallet 420 and lands on the conveying mechanism 300, the lower part of the soft package is stably in contact with the conveying surface of the conveying mechanism 300, so that the soft package can smoothly transition to the conveying surface of the conveying mechanism 300, reducing the probability of the soft package being bent at the corner due to the lower part of the soft package not being parallel to the conveying mechanism 300, avoiding jamming or tilting of the soft package at the beginning of the conveying, and improving the smoothness of the conveying of the soft package.

[0096] In other embodiments, the conveying mechanism 300 may also be driven by a motor to rotate about its rear end.

[0097] A guide plate 320 is provided on the upper side of the conveying mechanism 300 near the guiding mechanism 400. The guide plate 320 extends in the front-to-back direction and is inclined upwards in the direction away from the conveying mechanism 300. When a soft package falls onto the conveying mechanism 300, the rear end of the soft package falls onto the conveying surface of the conveying mechanism 300, while the front end rests against the guide plate 320. The inclined guide plate 320 facilitates the soft package falling onto the conveying mechanism 300, and when the conveying mechanism 300 drives the soft package to move, the soft package can be guided to the conveying surface of the conveying mechanism 300 via the guide plate 320.

[0098] The conveying mechanism 300 is also provided with a limiting plate 330 and a transition plate 340 on its upper side. The limiting plate 330 is located at the rear end of the guide plate 320 and extends vertically in the front-to-back direction. The transition plate 340 connects the guide plate 320 and the limiting plate 330, realizing the transition from the inclined guide plate 320 to the vertical limiting plate 330, and preventing soft-packaged goods from getting stuck or the packaging from being torn.

[0099] After the flexible packaged goods fall onto the conveyor mechanism 300, the conveying surface of the conveyor mechanism 300 moves the rear end of the flexible packaged goods backward, while the front end of the flexible packaged goods slides down along the guide plate 320 and gradually returns to its original position under the obstruction of the transition plate 340, until the flexible packaged goods are placed on the conveyor mechanism 300 in the front-to-back direction. The vertically set limiting plate 330 can continuously limit the flexible packaged goods in the front-to-back direction, preventing the flexible packaged goods from continuously deviating during the conveying process, ensuring that the flexible packaged goods are stably conveyed in the front-to-back direction, and maintaining a parallel posture with the conveyor mechanism 300 for subsequent transfer, stacking and other processes.

[0100] There are two guiding mechanisms 400, which are respectively set on opposite sides of the conveying mechanism 300. Thus, the soft-packaged goods on both sides of the robotic arm 200 can be guided by the guiding mechanisms 400 to accurately fall onto the conveying mechanism 300, thereby improving the applicability of the soft-packaged goods loading and unloading trolley 1000.

[0101] Correspondingly, guide plates 320, limit plates 330 and transition plates 340 are provided on both sides of the conveying mechanism 300, and the two sets of guide plates 320, limit plates 330 and transition plates 340 are symmetrically arranged.

[0102] The above are merely preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made in accordance with the structure, features and principles of the present invention patent application are included within the scope of the present invention patent application.

Claims

1. A soft-pack cargo loading and unloading trolley, characterized in that, The soft-pack cargo loading and unloading trolley (1000) includes: The trolley body (100) has a walking mechanism (500) at its bottom and a conveying channel (110) extending forward and backward inside the trolley body (100). A robotic arm (200) is disposed on the trolley body (100) and located above the conveying channel (110). The robotic arm (200) is connected to a gripper (210) for gripping soft-packaged goods. A conveying mechanism (300) is disposed within the conveying channel (110) and extends to the front of the robotic arm (200); A guiding mechanism (400), the guiding mechanism (400) comprising: A lifting arm (410) is disposed on the side of the conveying channel (110). The rear end of the lifting arm (410) is rotatably connected to the trolley body (100). The lifting arm (410) is horizontally arranged with its rotation axis relative to the trolley body (100) perpendicular to the front-back direction. The lifting arm (410) is connected to a first driving member (440) for driving the lifting arm (410) to rotate. A guide tray (420) is movably connected to the front end of the lifting arm (410), with the lower end of the guide tray (420) facing the conveying mechanism (300) to guide the soft packaged goods into the conveying mechanism (300) along the length of the guide tray (420). An adjustment component (430) is connected to the guide tray (420) and is used to drive the guide tray (420) to rotate in order to adjust the angle between the length direction of the guide tray (420) and the horizontal plane, and to adjust the angle between the length direction of the guide tray (420) and the front-back direction.

2. The soft-pack cargo loading and unloading trolley as described in claim 1, characterized in that, The guide tray (420) is rotatably provided with a plurality of rollers (421), the axial direction of the rollers (421) being perpendicular to the length direction of the guide tray (420) and parallel to the disk surface of the guide tray (420), and the plurality of rollers (421) being arranged at intervals along the length direction of the guide tray (420).

3. The soft-pack cargo loading and unloading trolley as described in claim 2, characterized in that, At least one of the multiple rollers (421) is an electric roller, and a synchronous belt (422) is simultaneously fitted around the outside of two adjacent rollers (421). The multiple rollers (421) are driven to rotate synchronously by the multiple synchronous belts (422).

4. The soft-pack cargo loading and unloading trolley as described in claim 1, characterized in that, The adjustment assembly (430) includes an adjustment seat (431), a second drive member (432), and a third drive member (433). The adjustment seat (431) is rotatably connected to the end of the lifting arm (410) about a first axis, and the guide tray (420) is rotatably connected to the adjustment seat (431) about a second axis. The second drive member (432) is connected to the adjustment seat (431) and is used to drive the adjustment seat (431) to rotate. The third drive member (433) is connected to the guide tray (420) and is used to drive the guide tray (420) to rotate. The second axis is perpendicular to the first axis.

5. A soft-pack cargo loading and unloading trolley as described in claim 4, characterized in that, The first axis extends horizontally perpendicular to the length direction of the lifting arm (410). The second driving member (432) includes a second push rod (4321), a driving rack (4322), and a driving gear (4323). The second push rod (4321) is connected to the lifting arm (410) and is arranged parallel to the length direction of the lifting arm (410). The driving rack (4322) is arranged parallel to the length direction of the lifting arm (410) and is connected to the driving end of the second push rod (4321). The driving gear (4323) is fixedly connected to the adjusting seat (431) and is coaxial with the first axis. The driving gear (4323) meshes with the driving rack (4322).

6. A soft-pack cargo loading and unloading trolley as described in claim 4, characterized in that, The third drive unit (433) includes a third push rod, which is perpendicular to the second axis and not coplanar with the second axis. One end of the third push rod is hinged to the adjustment seat (431), and the other end of the third push rod away from the adjustment seat (431) is hinged to the guide tray (420).

7. The soft-pack cargo loading and unloading trolley as described in claim 1, characterized in that, The rear end of the conveying mechanism (300) is rotatably connected to the trolley body (100), and the front end of the conveying mechanism (300) is hinged to a lifting push rod (310). The end of the lifting push rod (310) away from the conveying mechanism (300) is hinged to the trolley body (100).

8. A soft-pack cargo loading and unloading trolley as described in claim 7, characterized in that, A guide plate (320) is provided on the upper side of the conveying mechanism (300) near the guide mechanism (400). The guide plate (320) extends in the front-back direction and is inclined upward in the direction away from the conveying mechanism (300).

9. A soft-pack cargo loading and unloading trolley as described in claim 8, characterized in that, The upper side of the conveying mechanism (300) is also provided with a limiting plate (330) and a transition plate (340). The limiting plate (330) is located at the rear end of the guide plate (320). The limiting plate (330) extends in the front-back direction and is vertically arranged. The transition plate (340) is transitionally connected between the guide plate (320) and the limiting plate (330).

10. A soft-pack cargo loading and unloading trolley as described in claim 1, characterized in that, There are two guide mechanisms (400), which are respectively located on opposite sides of the conveying mechanism (300).

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