Automatic goods transportation device capable of automatically loading and unloading goods

Abstract

The utility model discloses an automatic cargo transportation device capable of automatically loading and unloading, which relates to the technical field of cargo transportation and comprises a bearing mechanism, a moving mechanism and a control mechanism. The bearing mechanism comprises a bearing plate and a storage cavity; the storage cavity is fixedly mounted at the bottom of the bearing plate; the movement mechanism is installed at the bottom of the bearing plate and can reciprocate in the vertical direction. The control mechanism comprises a controller for controlling the movement mechanism and the loading and unloading mechanism and a sensing mechanism for sensing the environment in the loading, unloading and transporting processes. The device further comprises a loading and unloading mechanism capable of automatically loading and unloading goods. According to the automatic loading and unloading device, the loading and unloading mechanism working autonomously is utilized, under the condition that no personnel operation or assistance is needed, the device can load or unload goods autonomously, time and labor are saved, and the safety of the goods and personnel can be guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of cargo transportation, in particular to an automatic cargo transportation device capable of autonomous loading and unloading. Background Art

[0002] With the continuous increase in labor costs and the need for precise control of project progress, people are paying more and more attention to the requirements of work efficiency, punctuality and safety protection during cargo transportation. Since the currently used cargo-carrying devices such as trolleys and cargo tricycles require manual loading or unloading of goods, and manual loading and unloading is inefficient and cannot be operated continuously for a long time, coupled with the factors such as the decreasing number of working-age laborers and the increasing unit labor costs in recent years, the problem has led to problems such as the high age of the labor force and frequent safety accidents, labor shortages and high labor costs for enterprises.

[0003] For this type of cargo transportation scenario, traditional manual handling methods are extremely labor-intensive and, affected by the weight of the cargo, are prone to tipping and falling during the transportation process, causing injuries to the transporters.

[0004] Therefore, an automatic cargo transportation device capable of autonomous loading and unloading is proposed. Utility Model Content

[0005] The purpose of the utility model is to overcome the deficiencies of the prior art and provide an automatic cargo transportation device capable of autonomous loading and unloading.

[0006] The purpose of this utility model is achieved through the following technical solutions:

[0007] An automatic cargo transport device capable of autonomous loading and unloading comprises a bearing mechanism, a motion mechanism and a control mechanism; the bearing mechanism comprises a load-bearing plate and a storage cavity, the storage cavity being fixedly mounted at the bottom of the load-bearing plate; the motion mechanism being mounted at the bottom of the load-bearing plate and being capable of reciprocating in a vertical direction; the control mechanism comprising a controller for controlling the motion mechanism and the loading and unloading mechanism and a sensing mechanism for sensing the environment during loading and unloading and transportation; the transport device further comprises a loading and unloading mechanism capable of sucking cargo, lifting cargo or grabbing cargo, the loading and unloading mechanism being capable of autonomously loading cargo onto the device or unloading cargo from the device.

[0008] Furthermore, in the utility model, the loading and unloading mechanism includes an electric suction cup, a suction cup frame, and a rigid self-locking chain; the electric suction cup is any one of an electric vacuum suction cup and an electromagnetic suction cup; the electric suction cup is fixedly mounted on one side of the suction cup frame; the other side of the suction cup frame is fixedly connected to one end of the rigid self-locking chain, and a plurality of rollers are rotatably mounted on the bottom of the suction cup frame; the other end of the rigid self-locking chain is meshedly connected to the gear on the power output end of the chain motor; the chain motor is fixedly mounted on the side wall of the storage cavity.

[0009] Furthermore, in the utility model, the above-mentioned motion mechanism includes a driving wheel, a wheel frame, and a lifting mechanism; one end of the above-mentioned lifting mechanism is fixedly installed at the bottom of the load-bearing plate, and the other end is connected to the driving wheel through the wheel frame; the above-mentioned driving wheel is an independently steerable electric self-driven driving wheel; the above-mentioned lifting mechanism is any one of an electric hydraulic jack and an electric mechanical jack.

[0010] Furthermore, in the utility model, the sensing mechanism of the above-mentioned control mechanism includes a laser radar and a camera; the above-mentioned laser radar is rotatably installed on the top of the rotating lifting rod; the other end of the above-mentioned rotating lifting rod is fixedly installed on the bottom of the storage cavity; the above-mentioned camera is rotatably installed on the end of the rotating telescopic rod; the other end of the above-mentioned rotating telescopic rod is fixedly installed on the side wall of the storage cavity.

[0011] Furthermore, in the utility model, a plurality of rollers are rotatably installed at the portion of the load-bearing plate that carries goods; a detachable rechargeable power supply is provided in a storage cavity at the bottom between the front and rear wheels on the left and right sides of the load-bearing plate; and a controller of a control mechanism is provided in a storage cavity at the bottom between the left and right wheels on the front side of the load-bearing plate.

[0012] Furthermore, in the utility model, a safety protection structure is fixedly installed on one end of the above-mentioned load-bearing plate; a controller of a control mechanism is arranged inside the above-mentioned safety protection structure; a linear guide rail is also fixedly installed on the above-mentioned load-bearing plate; and a slider of the above-mentioned linear guide rail is fixedly connected to the bottom of the suction cup frame.

[0013] Furthermore, in the present invention, the device is provided with a fork width adjustment mechanism; the device further comprises a driving wheel, a wheel frame, a lifting mechanism, a fork arm, a linear guide, a fork, a wheel frame assembly, a connecting rod assembly, a radial bearing, a connecting shaft, a rocker arm, a power supply, and a storage cavity; the driving wheel is an electric self-driving driving wheel that can be steered arbitrarily, and the driving wheel is fixedly mounted under the wheel frame; a lifting mechanism is fixedly mounted on the wheel frame; the other end of the lifting mechanism is fixedly connected to the fork arm; the other end of the fork arm is mounted with a linear guide and a connecting shaft; the slider of the linear guide is fixedly connected to one end of the fork; there are at least two forks, and the forks are all mounted with a wheel frame assembly; the wheel frame assembly is movably connected to the connecting rod assembly; the connecting rod assembly is slidably connected to the connecting shaft through a radial bearing; the connecting shaft is movably connected to one end of the rocker arm; the rocker arm is also movably connected to the fork arm and the wheel frame; a storage cavity is also fixedly mounted on the wheel frame; a detachable rechargeable power supply and a control mechanism are arranged in the storage cavity.

[0014] Furthermore, in the utility model, the fork width adjustment mechanism also includes an electric telescopic rod and a screw motor; the electric telescopic rod is installed at a position of the fork close to the wheel frame assembly; the screw motor is fixedly installed at a position between two driving wheels at the bottom of the fork arm; a screw sleeve is installed on the screw of the screw motor; the screw sleeve is rotatably connected to a slider fixed on the fork; the electric telescopic rod and the screw motor work simultaneously to make the forks move toward or oppositely to achieve the adjustment of the fork width.

[0015] Furthermore, in the utility model, the above-mentioned loading and unloading mechanism is a multi-degree-of-freedom robotic arm; one end of the above-mentioned multi-degree-of-freedom robotic arm is fixedly installed on one end of the above-mentioned load-bearing plate through a base; the other end of the above-mentioned multi-degree-of-freedom robotic arm is installed with an execution end that can suck, grab or lift the goods and a driven wheel for assisting uphill; the one end of the multi-degree-of-freedom robotic arm installed on the above-mentioned load-bearing plate is also installed with a safety protection structure and a protection plate; a control mechanism is arranged in the above-mentioned safety protection structure; a detachable rechargeable power supply is arranged in the storage cavity at the bottom of the load-bearing plate, and a lifting mechanism is installed on the other end of the multi-degree-of-freedom robotic arm installed on the above-mentioned load-bearing plate; the other end of the above-mentioned lifting mechanism is fixedly connected to the lifting plate; a mobile carrier is parked on the above-mentioned lifting plate; a plurality of electric rollers are arranged in a matrix at the bottom of the above-mentioned mobile carrier; the above-mentioned mobile carrier reciprocates linearly on the lifting plate and the load-bearing plate.

[0016] Furthermore, in the utility model, a linear guide is installed laterally at the bottom of the above-mentioned load-bearing plate; the above-mentioned linear guide is provided with a linear guide steering mechanism at the two corners of the load-bearing plate on one side of the protective plate; the slider of the above-mentioned linear guide is fixedly connected to one end of the base of the above-mentioned multi-degree-of-freedom robotic arm; the other end of the above-mentioned base is bolted to one end of the multi-degree-of-freedom robotic arm; the above-mentioned base is also installed with an automatically retractable power cord storage box and electric wrenches at the four corners; when the robotic arm is working, the above-mentioned electric wrench is bolted to firmly fix the above-mentioned base to the side plate at the bottom of the load-bearing plate to ensure the stability and safety of the robotic arm when working; the above-mentioned base is also installed with a driving motor; a gear is installed at the power output end of the above-mentioned driving motor; the above-mentioned gear is meshed and connected with a rack installed on the linear guide; the above-mentioned driving motor drives the gear to reciprocate on the rack; the above-mentioned rack is installed on one side of the linear guide.

[0017] The beneficial effects of the utility model are:

[0018] 1. This device uses an autonomous loading and unloading mechanism to complete loading and unloading and transportation independently without the need for human loading and unloading or assistance, which enables the device to have all-weather working capabilities;

[0019] 2. This device can automatically load goods of different volumes, types and weights, transport them to the designated location and unload them;

[0020] 3. This device adopts the mechanism of autonomous loading, unloading and transportation, which will not cause the decline of labor capacity due to factors such as fatigue, illness, and emotions, so it can increase work efficiency;

[0021] 4. This device has the ability to work around the clock, and can work longer hours than humans on the same day, with a higher output ratio. At the same time, there is no human cost, welfare, indirect cost, or hidden cost, so it saves more costs;

[0022] 5. This device can load, unload and transport goods without the need for personnel loading or assistance, thereby reducing safety accidents caused by personnel loading and unloading and transportation. At the same time, since this device has autonomous decision-making and continuous learning, it improves delivery punctuality. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a perspective view of the structure of the utility model (front view);

[0024] Figure 2 The cargo loading process of the utility model Figure 1 ;

[0025] Figure 3 The cargo loading process of the utility model Figure 2 ;

[0026] Figure 4 The cargo loading process of the utility model Figure 3 ;

[0027] Figure 5 This is a structural perspective view (front view) of Embodiment 1 of the present utility model;

[0028] Figure 6 Cargo loading process of the first embodiment of the utility model Figure 1 ;

[0029] Figure 7 The cargo loading process of the first embodiment of the utility model Figure 2 ;

[0030] Figure 8 The cargo loading process of the first embodiment of the utility model Figure 3 ;

[0031] Fig. 9 This is a structural perspective view (top view) of Embodiment 2 of the present utility model;

[0032] Fig.10 This is a structural perspective view of Embodiment 2 of the utility model (side view - initial state);

[0033] Fig.11 The cargo loading process of the second embodiment of the utility model Figure 1 ;

[0034] Fig.12 The cargo loading process of the second embodiment of the utility model Figure 2 ;

[0035] Fig.13 This is a structural perspective view (top view) of Embodiment 3 of the present utility model;

[0036] Fig.14 The cargo loading process of the third embodiment of the utility model Figure 1 ;

[0037] Fig.15 The cargo loading process of the third embodiment of the utility model Figure 2 ;

[0038] Fig.16 The cargo loading process of the third embodiment of the utility model Figure 3 ;

[0039] Fig.17 This is a schematic diagram of the operation of the uphill auxiliary wheel in the third embodiment of the utility model;

[0040] Fig.18 This is a structural perspective view (side view) of the linear guide scheme of the third embodiment of the utility model;

[0041] Fig.19 This is a structural perspective view (top view) of the linear guide solution of embodiment 3 of the utility model.

[0042] In the figure: 1-roller; 2-controller; 3-carrying mechanism; 4-chain motor; 5-storage cavity; 6-rigid self-locking chain; 7-lifting mechanism; 8-wheel frame; 9-driving wheel; 10-electric suction cup; 11-suction cup frame; 12-power cavity; 13-camera; 14-laser radar; 15-rotating lifting rod; 16-charging plug; 17-movement mechanism; 18-loading and unloading mechanism; 19-driving wheel; 20-linear guide rail; 21-parallel eccentric coupling axle; 24-safety protection structure; 25-electric telescopic rod; 26-wheel frame assembly; 27-connecting rod assembly; 28-fork; 29-fork arm; 30-screw sleeve; 31-connecting shaft; 32-screw motor; 33-rocker arm; 34-electric roller; 35-mobile carrier; 36-driven wheel; 37-executing end; 38-multi-degree-of-freedom mechanical arm; 39-protective plate; 40-lifting plate; 41-guide rail steering mechanism; 42-base; 43-electric wrench. DETAILED DESCRIPTION

[0043] The following will be combined with the embodiments to clearly and completely describe the technical solution of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0044] like Figure 1 As shown, an automatic cargo transportation device capable of autonomous loading and unloading includes a carrying mechanism 3, a moving mechanism 17 and a control mechanism; the carrying mechanism 3 includes a load-bearing plate and a storage cavity 5, and the storage cavity 5 is fixedly mounted at the bottom of the load-bearing plate; the moving mechanism 17 is mounted at the bottom of the load-bearing plate and can reciprocate in the vertical direction; the control mechanism includes a controller 2 for controlling the moving mechanism 17 and the loading and unloading mechanism 18, and a sensing mechanism for sensing the environment during loading and unloading and transportation; the transportation device also includes a loading and unloading mechanism 18 that can suck the cargo, lift the cargo, or grab the cargo, and the loading and unloading mechanism 18 can autonomously load the cargo onto the device or unload the cargo from the device.

[0045] The controller 2 of the control mechanism in this embodiment includes a CPU, a sensor input and switch system, a control unit output system, a communication interface, and a human-machine interface.

[0046] It should be noted that the component of the device that sucks the goods is any one of an electric vacuum suction cup, an electromagnetic suction cup or other components with suction; the component that grabs the goods is any one of a clamp, a claw, and a grab; the component that holds up the goods is any one of a forklift-like fork 28, a bracket that can reciprocate vertically, and a bucket similar to a forklift; at the same time, one or more methods can be used to load and unload the goods according to the loading and unloading conditions.

[0047] The load-bearing plate of the bearing mechanism 3 is a box with an opening on one side, no roof, and an outer reverse edge at the top; a plurality of rollers 1 are rotatably installed on the part of the load-bearing plate that bears goods; a detachable rechargeable power supply is provided in the storage cavity 5 at the bottom between the front and rear wheels on the left and right sides of the load-bearing plate; a controller 2 of the control mechanism is provided in the storage cavity 5 at the bottom between the left and right wheels on the front side of the load-bearing plate (the side where the rotating lifting rod is installed in this device is the front side).

[0048] The loading and unloading mechanism 18 includes an electric suction cup 10, a suction cup frame 11, a rigid self-locking chain 6, and a chain motor 4; the electric suction cup 10 is any one of an electric vacuum suction cup, an electromagnetic suction cup, or other devices with suction force; the electric suction cup 10 is fixedly mounted on one side of the suction cup frame 11; the other side of the suction cup frame 11 is fixedly connected to one end of the rigid self-locking chain 6, and a plurality of rollers 1 are rotatably mounted on the bottom of the suction cup frame 11. The suction cup frame 11 is also provided with a storage cavity 5, and a power supply is installed in the storage cavity 5; the other end of the rigid self-locking chain 6 is meshed and connected with a transmission wheel 19 on the power output end of the chain motor 4; the chain motor 4 is fixedly mounted on the side wall of the storage cavity 5; the rigid self-locking chain 6 is divided into two groups, upper and lower, and is driven by two chain motors 4 respectively. The control mechanism drives the rigid self-locking chain 6 to extend and retract by controlling the chain motor 4, so that the suction cup frame 11 moves back and forth between the rear end and the front end in the horizontal direction on the load-bearing plate. The device adopts the self-locking rigid chain in the prior art to realize the "pushing and pulling" action of the suction cup frame 11 so as to achieve the loading and unloading function of the goods on the device; the loading and unloading mechanism 18 is folded to the front of the device when not working.

[0049] It should be noted that the rigid self-locking chain 6 and the chain motor 4 can also be replaced by a screw motor 32 and a screw sleeve 30. The screw motor 32 is embedded and fixedly installed on the side walls of the left and right bearing plates, and a connecting piece is fixedly installed on the screw sleeve 30, and the other end of the connecting piece is fixedly connected to the suction cup frame 11. The screw motor 32 drives the screw sleeve 30 to rotate, thereby realizing the reciprocating motion of the suction cup frame 11 on the bearing plate.

[0050] The power supply on the suction cup frame 11 will be charged once each time the electric suction cup 10 is reset to ensure that the electric suction cup 10 has sufficient power when working. The electric suction cup 10 is fixed to the suction cup frame 11 by bolts to ensure that any suction cup can be replaced and repaired in time when it fails. The electric suction cups 10 are connected in parallel with the power supply to ensure that the operation of other electric suction cups 10 will not be affected when any suction cup fails.

[0051] The motion mechanism 17 includes a driving wheel 9, a wheel frame 8, and a lifting mechanism 7. One end of the lifting mechanism 7 is fixedly mounted on the bottom of the load-bearing plate, and the other end is connected to the driving wheel 9 through the wheel frame 8. The driving wheel 9 is an electric self-driving driving wheel 9 that can be independently steered. The lifting mechanism 7 is any one of an electric hydraulic jack, an electric mechanical jack, or other equipment with a lifting function. By controlling and adjusting the lifting mechanism 7 on a single driving wheel 9, the device and the cargo can be kept balanced when the device is traveling on an uneven road.

[0052] The sensing mechanism of the control mechanism includes a laser radar 14 and a camera 13. The device continuously collects information about the surrounding environment through the camera 13 and the laser radar 14 of the sensing mechanism, analyzes and judges through the controller 2, thereby realizing monitoring of the surrounding environment of the device, and making decisions and adjustments based on real-time information. At the same time, through the reasonable configuration of the number and position of the laser radar 14 and the camera 13, comprehensive coverage of the safety of the surrounding environment of the device is achieved. The controller 2 includes multiple control units including a drive control (including braking control) mechanism, a loading and unloading control mechanism, and a multi-task learning neural network. The control method and signal transmission of this device are both wireless control and transmission.

[0053] It should be noted that the surrounding environment information of this device includes but is not limited to the following aspects:

[0054] 1. The bottom (such as the ground, bridge deck or other temporary traffic surface), surroundings and top (in the air) of the device;

[0055] 2. Stationary people, animals, plants, buildings, moving people, animals, vehicles and other power devices or objects engulfed by power (such as objects blown by strong winds), etc.;

[0056] 3. Weather information (such as rain, floods, sandstorms, temperatures and other extreme weather);

[0057] 4. Road information: such as temporary traffic control, road collapse, uncovered manhole covers, road obstacles (including stationary and moving obstacles), etc.

[0058] 5. Other abnormal information: strong light exposure, signal interference, human interference, falling objects from high altitude, other dangerous sources, etc.

[0059] The multi-task learning neural network uses deep learning algorithms and Transformer models to identify and understand the real-time data of the surrounding environment of the device obtained by the sensing mechanism composed of laser radar 14 and multiple cameras 13, and annotates and processes the data in an online or offline manner, thereby achieving a complete and continuous description of the three-dimensional scene of the surrounding environment of the device and predicting and calibrating the movement of all moving bodies (people, animals, and objects) and making control decisions and adjustments. Multi-task learning neural networks are existing technologies, and this patent does not involve software copyrights, so other information will not be repeated here.

[0060] The laser radar 14 is rotatably installed at the top of the rotating lifting rod 15; the other end of the rotating lifting rod 15 is fixedly installed at the bottom of the storage cavity 5; the laser radar 14 can sense the obstacles around the device in real time and provide accurate information such as distance, position and shape, providing accurate environmental information for the controller 2; the laser radar 14 has a high refresh rate, which enables the laser radar 14 to update the environmental data in real time, and provide accurate and timely perception information for the controller 2; at the same time, the laser radar 14 can dynamically adjust the resolution and refresh rate according to different operating scenarios.

[0061] The laser radar 14 of this device uses a solid-state laser radar 14 similar to RS-LiDAR-M1 produced by RoboSense.

[0062] It should be noted that, depending on the application scenario, the device may also use ultrasonic radar, millimeter wave radar or other types of lidar 14 and other types of positioning, ranging and imaging technologies, but is not limited to these.

[0063] The camera 13 is rotatably mounted on the end of the electric rotating telescopic rod; the other end of the electric rotating telescopic rod is fixedly mounted on the side wall of the storage cavity 5; when the device is working, the controller 2 controls the telescopic rod of the rotating telescopic rod to extend, so that the camera 13 extends out of the storage cavity 5 to a position where the camera 13 can work normally. At this time, the controller 2 controls the rotating part of the electric rotating telescopic rod to make the camera 13 rotate, so that the camera 13 can collect information about the surrounding environment. When the device is not working, the electric rotating telescopic rod is retracted, so that the camera 13 is in a storage state, reducing its damage rate.

[0064] The camera 13 used in the device has stable performance under various weather and lighting conditions, ensuring the reliability of the operation of the device. The camera 13 also has a high resolution and can capture clear images to provide accurate target information for the controller 2. The camera 13 can also capture and transmit image data in real time, ensuring that the controller 2 can process and analyze environmental information in a timely manner and make correct decisions.

[0065] The laser radar 14 and the camera 13 are both existing technologies, and other information will not be elaborated here.

[0066] The working principle of the utility model is:

[0067] When the device receives the loading and unloading and transportation instructions, the controller 2 begins to understand and parse the instructions and obtains the following required information from them:

[0068] 1. Name, type, dimensions, packaging, quantity, weight, loading and unloading precautions and other information related to the goods being loaded and unloaded;

[0069] 2. The location (loading place) and environmental information of the loaded goods, the location (unloading place) and environmental information of the unloaded goods, and the route planning and query of road conditions along the way and other environmental information during the loading and unloading process;

[0070] 3. Relevant information of the consignor (person or IoT device), relevant information of the consignee (person or IoT device), relevant information of the related parties (person or IoT device, such as access control, etc.), and other information related to the delivery of goods.

[0071] After controller 2 completes the analysis, the control mechanism starts to contact the shipper and consignee to reconfirm the cargo-related information and environmental factors at the loading site that may affect the loading and unloading of cargo, and at the same time contact related parties to inform them of relevant matters, such as notifying the IoT elevator how long it will take for the device to arrive at the elevator to reduce the waiting time for the elevator or requesting the guard to open the door when arriving at the door.

[0072] like Figure 2 As shown, after the control mechanism confirms the information, it controls the device to move to the side of the cargo by itself, and the control mechanism controls the lifting mechanism 7 to lower the carrying mechanism 3 to the ground or the position consistent with the lowest point of the driving wheel 9.

[0073] The control mechanism controls the chain motor 4 to rotate, thereby drives the rigid self-locking chain 6 to extend, and the sucker frame 11 is moved toward the goods. When the electric sucker on the sucker frame 11 abuts against the side wall of the goods, the electric sucker starts working and firmly sucks the goods.

[0074] like Figure 3 As shown, the control mechanism controls the chain motor 4 to rotate, thereby driving the rigid self-locking chain 6 to retract, so that the goods firmly sucked by the electric suction cup are dragged to the load-bearing plate of the carrying mechanism 3.

[0075] like Figure 4 As shown, when the cargo is completely dragged onto the load-bearing plate (as shown in the figure), the chain motor 4 stops working. The control mechanism controls the lifting mechanism 7 to rise to the initial position. The control mechanism controls the motion mechanism 17 to work, so that the device loaded with cargo moves to the unloading position.

[0076] It should be noted that the controller 2 will determine whether the electric suction cup 10 continues to suck the cargo, the number of operations, the time period, the suction force, etc. of the electric suction cup 10 according to the cargo tipping risk assessment coefficient. At the same time, the height of the lifting mechanism 7 will also be adjusted according to the height, weight, stability, speed and road conditions of the loaded cargo to ensure the safety of the device and the cargo.

[0077] When the goods are transferred to the unloading position, the control mechanism controls the lifting mechanism 7 to lower the carrying mechanism 3 to the ground or the position consistent with the lowest point of the driving wheel 9. The control mechanism controls the chain motor 4 to rotate, thereby driving the rigid self-locking chain 6 to extend, pushing the suction cup frame 11 to drive the goods to move out of the load-bearing plate of the carrying mechanism 3.

[0078] At this point, the entire process of loading, unloading and transporting goods is completed.

[0079] It should be noted that:

[0080] 1. The working process and method of this device will be adjusted accordingly due to the needs of some scene applications, so the working process and method of this device are not limited to this;

[0081] 2. The physical structure of the goods sucked and dragged by the suction cup or clamped by the clamp is sufficient to prevent them from being damaged during the process of being sucked, clamped or dragged. The goods referred to here include both the goods themselves and the packaging structure that protects the goods;

[0082] 3. The autonomous loading and unloading and automatic transportation functions of this device can also be manually controlled under certain specific or emergency circumstances to adapt to special circumstances or avoid potential unknown risks.

[0083] The following is a further explanation of the present invention in combination with different usage scenarios: Embodiment 1

[0084] like Figures 5 and 6 As shown, in this embodiment, the load-bearing plate of the bearing mechanism 3 is a platform on which a plurality of rollers 1 are rotatably mounted; a safety protection structure 24 is fixedly mounted at one end of the platform; a controller 2 of the control mechanism is arranged inside the protection structure; a linear guide rail 20 is also fixedly mounted on the platform; and a slider of the linear guide rail 20 is fixedly connected to the bottom of the suction cup frame 11.

[0085] At the same time, in order to adapt to the arrangement of the rigid self-locking chain 6 in this embodiment, this embodiment optimizes the configuration of the rigid self-locking chain 6, and changes it to two upper groups of rigid self-locking chains 6 and a lower group of rigid self-locking chains 6; the upper two groups of rigid self-locking chains 6 are respectively driven by one chain motor 4, and the lower group is driven by two chain motors 4 to meet the push-pull power of the loading and unloading mechanism 18 during work.

[0086] like Figures 7 and 8 As shown, in this embodiment, the linear guide rail 20 and the slider increase the stability of the reciprocating motion of the suction cup frame 11 on the load-bearing plate, while reducing the movement resistance, so that this embodiment can load and unload larger (exceeding the area of ​​the load-bearing plate of the device), heavier, and taller goods, making the device have a wider range of uses.

[0087] It should be noted that, in order to load goods with larger volume, the device of this embodiment replaces the box body with an opening on one side, no roof and an outer reverse edge at the top with a platform; at the same time, in order to load and unload goods placed on pallets, flat platforms and the like at a certain height from the ground, the device of this embodiment optimizes the lifting mechanism 7 to ensure that the platform is low enough from the ground to facilitate the loading and unloading of such goods.

[0088] It should be noted that in order to adapt to the loading, unloading and transportation of certain particularly heavy goods, a rack can also be installed on the linear guide rail 20, a drive motor can be installed on the slider, and a gear can be installed on the power output end of the drive motor; the drive motor drives the gear to reciprocate on the rack, thereby increasing the ability of the suction cup frame 11 to reciprocate on the load-bearing plate, so that the device of this embodiment can load, unload and transport heavier goods. Embodiment 2

[0089] like Figures 9 and 10 As shown, the device of this embodiment is provided with a fork 28 width adjustment mechanism, and the device of this embodiment also includes a driving wheel 9, a wheel frame 8, a lifting mechanism 7, a fork arm 29, a linear guide rail 20, a fork 28, a wheel frame assembly 26, a connecting rod assembly 27, a radial bearing, a connecting shaft, a rocker arm 33, a detachable rechargeable power supply, and a storage cavity 5. The driving wheel 9 is an electric self-driving driving wheel 9 that can be turned arbitrarily, and the driving wheel 9 is fixedly installed under the wheel frame 8. The lifting mechanism 7 is fixedly installed on the wheel frame 8. The other end of the lifting mechanism 7 is fixedly connected to the fork arm 29. The other end of the fork arm 29 is installed with a linear guide rail 20 and a connecting shaft. The slider of the linear guide rail 20 is fixedly connected to one end of the fork 28. There are at least two forks 28, and the forks 28 are all installed with a wheel frame assembly 26. The wheel frame assembly 26 is movably connected to the connecting rod assembly 27. The connecting rod assembly 27 is slidably connected to the connecting shaft through a radial bearing. The connecting shaft is movably connected to one end of the rocker arm 33. The rocker arm 33 is also movably connected with the fork arm 29 and the wheel frame 8. The wheel frame 8 is also fixedly installed with a storage cavity 5. The storage cavity 5 is provided with a detachable rechargeable power supply and a control mechanism.

[0090] The width adjustment mechanism of the fork 28 also includes an electric telescopic rod 25 and a screw motor 32. The electric telescopic rod 25 is installed at a position of the fork 28 close to the wheel frame assembly 26, and each fork 28 is equipped with an electric telescopic rod 25. The screw motor is fixedly installed at the position between the two driving wheels 9 at the bottom of the fork arm 29; the screw sleeve 30 is installed on the screw of the screw motor 32; the screw sleeve 30 is also rotatably connected to the slider fixed on the fork 28; the electric telescopic rod 25 and the screw motor work simultaneously to make the fork 28 move towards or in the opposite direction, thereby realizing the adjustment of the width of the fork 28.

[0091] In this embodiment, the device can load, unload and transport goods of different widths by automatically adjusting the width of the fork 28, making the device more widely used. At the same time, adjusting the fork 28 to the widest position for loading and unloading goods during each loading, unloading and transportation can better reduce the swaying of the goods and increase the stability of the goods during loading, unloading and transportation.

[0092] The design of the dual driving wheels 9 enables the device of this embodiment to have a greater load-bearing capacity and transportation capacity. At the same time, the lifting mechanism 7 on the dual driving wheels 9 allows the driving wheels 9 to pass through uneven roads by only lifting the lifting mechanism 7 on one of the driving wheels 9, thereby solving the risks of vibration of the device of this embodiment and shaking of goods caused by uneven roads.

[0093] The loading and unloading process of this embodiment:

[0094] When the device of this embodiment receives the loading and unloading and transportation instructions and completes matters such as instruction analysis and task confirmation, the device of this embodiment automatically moves to the cargo accumulation area.

[0095] like Fig.11 As shown, the controller 2 automatically adjusts the loading posture of the device of this embodiment according to the environmental conditions and loading and unloading rules, and at the same time controls the lifting mechanism 7 to descend so that the fork 28 can drive into the bottom of the cargo or the bottom of the pallet or bracket carrying the cargo and ensure a safe height between the cargo and the fork 28.

[0096] like Fig.12 As shown, the motion mechanism 17 is controlled to continue to move until the fork 28 completely reaches the bottom of the cargo or the bottom of the pallet or bracket carrying the cargo. The control mechanism controls the lifting mechanism 7 to rise to a certain height above the ground, which can ensure the safety of the cargo during loading, unloading and transportation. Then the control mechanism controls the motion mechanism 17 to work, so that the device of this embodiment loaded with cargo moves to the unloading location.

[0097] When the goods are transferred to the unloading position, the controller 2 automatically adjusts the posture of the device of this embodiment according to the environmental conditions, loading conditions and loading and unloading rules. The control mechanism controls the lifting mechanism 7 to drive the fork 28 down to a position where the supporting feet of the goods touch the ground or the supporting feet of the pallet or shelf on which the goods are placed touch the ground slightly lower. The control mechanism controls the motion mechanism 17 to make the device of this embodiment drive out from the bottom of the goods.

[0098] At this point, the entire process of loading, unloading and transporting goods of the device of this embodiment is completed.

[0099] It should be noted that the goods loaded, unloaded and transported by the device of this embodiment are mainly goods with their own supporting feet or placed on pallets or shelves with supporting feet (loaded, unloaded and transported together with pallets and shelves). Embodiment 3

[0100] like Figure 13 to Figure 14 As shown, in this embodiment, the load-bearing plate of the bearing mechanism 3 is a platform provided with a mobile carrier 35. A storage cavity 5 is provided at the bottom of the platform, and a detachable rechargeable power supply is provided in the storage cavity 5. The loading and unloading mechanism 18 is a multi-degree-of-freedom robotic arm, and one end of the multi-degree-of-freedom robotic arm 38 is fixedly mounted on one end of the platform through a base 42; the base 42 is also fixedly connected to one end of the rotating lifting rod 15, and the other end of the rotating lifting rod 15 is rotatably mounted with a laser radar 14, and the other end of the multi-degree-of-freedom robotic arm 38 is installed with an execution end 37 that can suck or grab the goods or lift the goods and a driven wheel 36 that assists in going uphill. A safety protection structure 24 and a protective plate 39 are also installed at one end of the platform where the multi-degree-of-freedom robotic arm 38 is installed. The safety protection structure 24 is provided with a controller 2 of the control mechanism, and a detachable rechargeable power supply is provided in the storage cavity at the bottom of the platform. There are multiple protective plates 39. One end of the outermost protective plate 39 is fixedly connected to the platform, and the others are slidably connected through multi-section slide rails. The protective plate 39 close to the innermost side is fixedly connected to one end of the lifting mechanism 7, and the other end of the lifting mechanism 7 is fixedly connected to the platform. The lifting and lowering of the lifting mechanism 7 drives the protective plate 39 to move up and down to protect the freedom robot arm from being squeezed by the goods when loading and unloading goods at different heights. The other end of the multi-degree-of-freedom robot arm 38 mounted on the platform is also installed with a lifting mechanism 7; the other end of the lifting mechanism 7 is fixedly connected to the lifting plate 40; the mobile carrier 35 is parked on the lifting plate 40; a number of electric rollers 34 are arranged in a matrix at the bottom of the mobile carrier 35; the mobile carrier 35 reciprocates linearly on the lifting plate 40 and the platform.

[0101] In this embodiment, the multi-freedom mechanical arm 38 replaces the rigid self-locking hinge strip to carry the execution end 37 that sucks or grabs or lifts the goods, so that the device has more loading and unloading capabilities. At the same time, by adding a mobile carrier 35, the device of this embodiment can load and unload more goods at one time, reducing the number of transportations, shortening the transportation time, reducing the transportation cost, and improving production efficiency.

[0102] like Fig.17 As shown, in order to better ensure the safety of the device of this embodiment loaded with bulk goods when traveling on a slope, a driven wheel for assisting uphill travel is rotatably arranged at a position of the multi-degree-of-freedom mechanical arm 38 close to the execution end 37. When the device of this embodiment loaded with bulk goods travels on a slope, the control mechanism controls the multi-degree-of-freedom mechanical arm 38 to change its spatial position so that its driven wheel abuts against the ground. At this time, the multi-degree-of-freedom mechanical arm 38 and the driven wheel can further support the device of this embodiment under the joint action, thereby improving the stability of the device of this embodiment moving on the slope.

[0103] like Figure 18 to Figure 19As shown, another structure of the device of this embodiment, in this structure, a linear guide rail 20 is installed laterally at the bottom of the load-bearing plate, and the mobile carrier 35, the lifting plate 40 and the lifting mechanism 7 of the lifting plate 40 are eliminated; the linear guide rail 20 is provided with a guide rail steering mechanism 41 at two corners of the load-bearing plate on one side relative to the protective plate 39; the slider of the linear guide rail 20 is fixedly connected to one end of the base 42 of the multi-degree-of-freedom robot 38; the other end of the base 42 is bolted to one end of the multi-degree-of-freedom robot 38; an automatically retractable power cord storage box is also installed on the base 42 And electric wrenches 43 and a rotating lifting rod 15 located at the four corners, the top of the rotating lifting rod 15 is rotatably installed with a laser radar 14; when the robotic arm is working, the electric wrench 43 firmly fixes the base 42 to the side plate at the bottom of the load-bearing plate through bolts to ensure the stability and safety of the robotic arm when working; a driving motor is also installed on the base 42; a gear is installed at the power output end of the driving motor; the gear is meshed and connected with a rack installed on the linear guide 20, and the rack is installed on one side of the linear guide 20; the driving motor drives the gear to reciprocate on the rack.

[0104] Since the previous structure of the device of this embodiment has a large amount of cargo to be loaded and the device is large in size, the turning and turning capabilities of the device of this embodiment are relatively weak. In some cases where loading is required one after another and the loading site is crowded, it is difficult for the device of this embodiment to turn around or turn, which partially limits the use scenarios of the device of this embodiment. To solve this problem, a linear guide 20 and a guide steering mechanism 41 are added, and the base of the multi-degree-of-freedom manipulator 38 is installed on the guide slider. The gear is driven by a driving motor to reciprocate on the rack on the linear guide 20, so that the multi-degree-of-freedom manipulator 38 can be moved arbitrarily on both sides and in front of the latter device of this embodiment to load and unload cargo, thereby solving this problem and ensuring that the device of this embodiment can load and unload cargo in multiple directions without moving the device of this embodiment.

[0105] The loading and unloading process of this embodiment:

[0106] When the device receives the loading and unloading and transportation instructions and completes matters such as instruction parsing and task confirmation, the device of this embodiment automatically moves to the cargo accumulation location.

[0107] like Fig.14 As shown, the controller 2 automatically adjusts the loading posture of the device of this embodiment according to the environmental conditions, loading conditions and loading and unloading rules, and at the same time controls the lifting mechanism 7 under the lifting plate 40 to rise to a height consistent with the platform, and then controls the mobile carrier 35 to move to the side of the platform close to the multi-degree-of-freedom robotic arm 38 where the multi-degree-of-freedom robotic arm 38 can load the goods.

[0108] like Fig.15As shown, the multi-degree-of-freedom robot 38, under the control of the control mechanism, installs batches of goods onto the mobile carrier 35 one by one. During the loading process, the mobile carrier 35 and the multi-degree-of-freedom robot 38, under the control of the controller 2, move the mobile carrier 35 toward the side of the platform close to the lifting plate 40 according to certain loading and unloading rules while loading, until the mobile carrier 35 is loaded and the mobile carrier 35 moves to the initial position of the lifting plate 40, and the control mechanism controls the lifting mechanism 7 to descend to the initial position of the lifting mechanism 7.

[0109] like Fig.16 As shown, the control mechanism controls the multi-degree-of-freedom mechanical arm 38 to continue loading until loading is completed. Then the control mechanism controls the motion mechanism 17 to work so that this device loaded with bulk goods moves to the unloading location.

[0110] When the goods are transferred to the unloading position, the controller 2 automatically adjusts the posture of the device of this embodiment according to the environmental conditions and loading and unloading rules. The control mechanism controls the multi-degree-of-freedom robotic arm 38 to unload the goods on the platform to the designated pallet, shelf or ground according to certain loading and unloading rules. When the goods on the platform are unloaded, the control mechanism controls the lifting mechanism 7 under the lifting plate 40 to rise to the same height as the platform, and then controls the mobile carrier 35 to gradually move to the position of the platform close to the side of the multi-degree-of-freedom robotic arm 38 where the multi-degree-of-freedom robotic arm 38 can unload the goods. The control mechanism controls the multi-degree-of-freedom robotic arm 38 to continue unloading until the goods are unloaded. When the control mechanism controls the mobile carrier 35 to move to the initial position of the lifting plate 40, the control mechanism controls the lifting mechanism 7 to descend to the initial position of the lifting plate 40.

[0111] At this point, the entire process of loading, unloading and transporting goods of the device of this embodiment has been completed.

[0112] It should be noted that the above is the loading and unloading and transportation process of the former structure of the device in this embodiment. The difference between the latter structure and the former structure is that when the controller 2 adjusts the loading posture, it will also move the device to a suitable position according to the placement of the loaded goods and the order of loading and unloading, so as to reduce the number of times the position of the device is adjusted during loading and unloading. The multi-degree-of-freedom robotic arm 38 operates on both sides and in front of the device according to certain loading and unloading rules, thereby improving the efficiency of loading and unloading.

[0113] The above is only a preferred embodiment of the utility model. It should be understood that the utility model is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the utility model, and should be within the scope of protection of the claims attached to the utility model.

Claims

1. An automatic cargo transport device capable of autonomous loading and unloading, characterized in that: It includes a bearing mechanism, a moving mechanism and a control mechanism; the bearing mechanism includes a load-bearing plate and a storage cavity, and the storage cavity is fixedly installed at the bottom of the load-bearing plate; the moving mechanism is installed at the bottom of the load-bearing plate and can reciprocate in the vertical direction; the control mechanism includes a controller for controlling the moving mechanism and the loading and unloading mechanism and a sensing mechanism for sensing the environment during loading and unloading and transportation; the transportation device also includes a loading and unloading mechanism that can absorb the goods, lift the goods or grab the goods, and the loading and unloading mechanism can autonomously load the goods onto the device or unload the goods from the device.

2. The automatic cargo transport device capable of autonomous loading and unloading according to claim 1, characterized in that: The loading and unloading mechanism includes an electric suction cup, a suction cup frame, a rigid self-locking chain, and a chain motor; the electric suction cup is any one of an electric vacuum suction cup and an electromagnetic suction cup; the electric suction cup is fixedly installed on one side of the suction cup frame; the other side of the suction cup frame is fixedly connected to one end of the rigid self-locking chain, and a plurality of rollers are rotatably installed on the bottom of the suction cup frame; the other end of the rigid self-locking chain is meshed and connected with the gear on the power output end of the chain motor; the chain motor is fixedly installed on the side wall of the storage cavity.

3. The automatic cargo transport device capable of autonomous loading and unloading according to claim 1, characterized in that: The motion mechanism includes a driving wheel, a wheel frame, and a lifting mechanism; one end of the lifting mechanism is fixedly installed at the bottom of the load-bearing plate, and the other end is connected to the driving wheel through the wheel frame; the driving wheel is an independently steerable electric self-driven driving wheel; the lifting mechanism is any one of an electric hydraulic jack, an electric mechanical jack, or other equipment with lifting function.

4. The automatic cargo transport device capable of autonomous loading and unloading according to claim 1, characterized in that: The sensing mechanism of the control mechanism includes a laser radar and a camera; the laser radar is rotatably installed at the top of a rotating lifting rod; the other end of the rotating lifting rod is fixedly installed at the bottom of a storage cavity; the camera is rotatably installed at the end of a rotating telescopic rod; the other end of the rotating telescopic rod is fixedly installed on the side wall of the storage cavity; the controller of the control mechanism includes a CPU, a sensor input and switch system, a control unit output system, a communication interface, and a human-computer interface.

5. The automatic cargo transport device capable of autonomous loading and unloading according to claim 1, characterized in that: A plurality of rollers are rotatably mounted on the cargo-bearing portion of the load-bearing plate; a detachable rechargeable power source is disposed in a storage cavity at the bottom between the front and rear wheels on both sides of the load-bearing plate; and a controller of a control mechanism is disposed in a storage cavity at the bottom between the left and right wheels in front of the load-bearing plate.

6. The automatic cargo transport device capable of autonomous loading and unloading according to claim 1, characterized in that: A safety protection structure is fixedly installed at one end of the load-bearing plate; a controller of a control mechanism is arranged in the protection structure; a linear guide rail is also fixedly installed on the load-bearing plate; a slider of the linear guide rail is fixedly connected to the bottom of the suction cup frame.

7. The automatic cargo transport device capable of autonomous loading and unloading according to claim 1, characterized in that: The device is equipped with a fork width adjustment mechanism; the device also includes a driving wheel, a wheel frame, a lifting mechanism, a fork arm, a linear guide, a fork, a wheel frame assembly, a connecting rod assembly, a radial bearing, a connecting shaft, a rocker arm, a power supply, and a storage cavity; the driving wheel is an electric self-driven driving wheel that can be turned arbitrarily, and the driving wheel is fixedly installed under the wheel frame; a lifting mechanism is fixedly installed on the wheel frame; the other end of the lifting mechanism is fixedly connected to the fork arm; the other end of the fork arm is installed with a linear guide and a connecting shaft; the slider of the linear guide is fixedly connected to one end of the fork; there are at least two forks, and the forks are all installed with a wheel frame assembly; the wheel frame assembly is movably connected to the connecting rod assembly; the connecting rod assembly is slidably connected to the connecting shaft through a radial bearing; the connecting shaft is movably connected to one end of the rocker arm; the rocker arm is also movably connected to the fork arm and the wheel frame; a storage cavity is also fixedly installed on the wheel frame; a detachable rechargeable power supply and a control mechanism are provided in the storage cavity.

8. The automatic cargo transport device capable of autonomous loading and unloading according to claim 7, characterized in that: The fork width adjustment mechanism also includes an electric telescopic rod and a screw motor; the electric telescopic rod is installed at a position of the fork close to the wheel frame assembly; the screw motor is fixedly installed at a position between two driving wheels at the bottom of the fork arm; a screw sleeve is installed on the screw of the screw motor; the screw sleeve is rotatably connected to a slider fixed on the fork; the electric telescopic rod and the screw motor work simultaneously to make the forks move toward or oppositely to achieve the adjustment of the fork width.

9. The automatic cargo transport device capable of autonomous loading and unloading according to claim 1, characterized in that: The loading and unloading mechanism is a multi-degree-of-freedom robotic arm; one end of the multi-degree-of-freedom robotic arm is fixedly installed on one end of the load-bearing plate through a base; the other end of the multi-degree-of-freedom robotic arm is equipped with an execution end that can suck, grab or lift the goods and a driven wheel for assisting uphill climbing; the end of the multi-degree-of-freedom robotic arm installed on the load-bearing plate is also equipped with a safety protection structure and a protection plate; a control mechanism is arranged in the safety protection structure; a detachable rechargeable power supply is arranged in the storage cavity at the bottom of the load-bearing plate, and a lifting mechanism is installed on the other end of the multi-degree-of-freedom robotic arm installed on the load-bearing plate; the other end of the lifting mechanism is fixedly connected to the lifting plate; a mobile carrier is parked on the lifting plate; a number of electric rollers are arranged in a matrix on the bottom of the mobile carrier; the mobile carrier reciprocates linearly on the lifting plate and the load-bearing plate.

10. The automatic cargo transport device capable of autonomous loading and unloading according to claim 9, characterized in that: A linear guide is installed laterally at the bottom of the load-bearing plate; a linear guide steering mechanism is arranged at two corners of the load-bearing plate on one side of the protective plate; the slider of the linear guide is fixedly connected to one end of the base of the multi-degree-of-freedom robotic arm; the other end of the base is bolted to one end of the multi-degree-of-freedom robotic arm; an automatically retractable power cord storage box and electric wrenches at four corners are also installed on the base; when the robotic arm is working, the electric wrench is firmly fixed to the side plate at the bottom of the load-bearing plate by bolts to ensure the stability and safety of the robotic arm when working; a driving motor is also installed on the base; a gear is installed at the power output end of the driving motor; the gear is meshed and connected with a rack installed on the linear guide; the driving motor drives the gear to reciprocate on the rack; The rack is mounted on one side of the linear guide rail.

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