Telescopic roller line and loading and unloading vehicle system

Abstract

The utility model provides a telescopic roller line and a loading and unloading vehicle system, comprising a series of telescopic roller units, each roller unit comprising at least one roller used for supporting and conveying materials; the driving mechanism is used for driving the roller to rotate so as to convey the materials; the supporting rods are arranged between the adjacent rollers and used for being matched with the rollers to support and convey the materials. A series of telescopic roller units are arranged, each roller unit comprises at least one roller and is used for supporting and conveying materials, the rollers are driven by the driving mechanism to rotate so as to achieve conveying of the materials, the supporting rods are arranged between the adjacent rollers, and the supporting rods are arranged between the adjacent rollers. The telescopic roller line is arranged between the rollers and used for being matched with the rollers to support and convey the materials, so that the situation that when the telescopic roller line is stretched, the distance between every two adjacent rollers is increased, and consequently the small-size materials fall into the positions between the adjacent rollers is avoided, and the conveying efficiency of the materials is improved.

Description

Technical Field

[0001] The utility model relates to a logistics robot, in particular to a telescopic roller line and a loading and unloading vehicle system. Background Art

[0002] Telescopic roller line is a kind of automated logistics equipment, mainly used for material conveying and storage in warehouses, factories, distribution centers, etc. It consists of a series of rollers, which can be powered or unpowered, and they can be extended to meet the needs of material conveying of different lengths.

[0003] The telescopic roller line can be used in conjunction with other logistics equipment such as conveyor belts, lifting platforms, sorting systems, etc. to form a complete automated logistics system.

[0004] An industrial robot is an intelligent device equipped with sensors, objective lenses and electronic optical systems that can quickly sort and move goods.

[0005] More and more visual sensors and force sensors will be used in industrial robots, and industrial robots will become more and more intelligent. With the advancement of sensing and recognition systems, artificial intelligence and other technologies, robots are moving from being controlled in one direction to storing and applying data by themselves, and are gradually becoming information-based.

[0006] In order to expand the application scenarios and application scope of industrial robots, in the prior art, a mobile robot is manufactured by installing the industrial robot on a mobile base, so as to realize the movement of the industrial robot to achieve functions such as mobile depalletizing and mobile picking.

[0007] One of the core links in warehouse logistics and factory logistics is to place materials on the telescopic roller line through mobile robots, and the telescopic roller line will transport the materials. However, when the telescopic roller line is stretched, the distance between adjacent rollers will be too large, causing small-volume materials to be trapped between the adjacent rollers, reducing the transportation efficiency. Utility Model Content

[0008] In view of the defects in the prior art, the purpose of the utility model is to provide a telescopic roller line and a loading and unloading vehicle system.

[0009] The telescopic roller line provided by the utility model comprises:

[0010] a series of retractable roller units, each roller unit including at least one roller for supporting and conveying materials;

[0011] A driving mechanism, used to drive the drum to rotate so as to transport the material;

[0012] The support rod is arranged between the adjacent rollers and is used to cooperate with the rollers to support and transport the materials.

[0013] Preferably, it also includes: a shear plate assembly;

[0014] The shear plate assembly is arranged on both sides of the roller unit;

[0015] The shear plate assembly comprises a plurality of first shear plates arranged in parallel and a plurality of second shear plates arranged in parallel;

[0016] Each of the rollers is hinged to the corresponding upper ends of the first shearing plate and the second shearing plate at the same time.

[0017] Preferably, the middle section of the first shearing fork plate is hinged to the corresponding middle section of the second shearing fork plate; the upper end of the first shearing fork plate is hinged to the top end of the previous second shearing fork plate, and the lower end is hinged to the bottom end of the next second shearing fork plate;

[0018] The middle section of the second shearing fork plate is hinged to the corresponding middle section of the first shearing fork plate; the upper end of the second shearing fork plate is hinged to the top end of the previous first shearing fork plate, and the lower end is hinged to the bottom end of the next first shearing fork plate.

[0019] Preferably, one end of the support rod is hinged to a first shear plate located at one side of the drum unit through a first connecting piece, and is hinged to a second shear plate located at one side of the drum unit through a second connecting piece;

[0020] The other end of the support rod is hinged to the first shear plate located at the other side of the drum unit through the third connecting piece, and is hinged to the second shear plate located at the other side of the drum unit through the fourth connecting piece.

[0021] Preferably, when the shear plate assembly is stretched, the distance between adjacent rollers increases;

[0022] The support rod is located at a middle position between two adjacent rollers to support a middle area between the adjacent rollers.

[0023] Preferably, both ends of each of the roller units are provided with limited ribs;

[0024] The top end of the limiting rib extends into a transverse rib along the extension direction of the roller unit;

[0025] A rib roller is respectively arranged at both ends of the transverse rib.

[0026] Preferably, two adjacent limiting ribs have different heights and the transverse ribs are offset in the width direction;

[0027] When the roller unit is compressed, an adjacent transverse rib contracts to the lower side of the other transverse rib.

[0028] Preferably, a plurality of adjacent limiting ribs form a limiting rib group;

[0029] In a limiting rib group, each limiting rib has a different height;

[0030] When the roller unit is compressed, an adjacent transverse rib in the position limiting rib group shrinks to the lower side of another transverse rib.

[0031] The loading and unloading vehicle system provided by the utility model comprises: the telescopic roller line, a mobile loading and unloading vehicle, a material tray and a mobile robot;

[0032] A mobile loading and unloading vehicle, used to place the material to be unloaded on its onboard conveying mechanism or on the telescopic roller line;

[0033] A telescopic roller line, the front end of which is connected to the mobile loading and unloading vehicle and the rear end is connected to the mobile robot, and is used to convey materials into the operating range of the mobile robot;

[0034] Material trays, arranged on both sides of the mobile robot;

[0035] The mobile robot is used to stack the materials conveyed by the telescopic roller line on the material tray.

[0036] Preferably, the front end of the mobile robot is connected to a material handling and conveying platform;

[0037] The front end of the material handling and conveying platform is butted against the rear end of the telescopic roller line;

[0038] The material sorting and conveying platform is used to sort the multiple materials conveyed by the telescopic roller line to form a material assembly for the mobile robot to grasp at one time.

[0039] Preferably, the material handling and conveying platform comprises:

[0040] The material handling line body is used for conveying the materials;

[0041] A return baffle, which is arranged on the main body of the material sorting line and is used to prevent the material from sliding down;

[0042] A push plate, arranged on the main body of the material sorting line, arranged opposite to the edge return baffle, and used for pushing the material close to the edge return baffle;

[0043] The push plate driving mechanism is used to drive the push plate to move relative to the edge return baffle plate to push the material close to the edge return baffle plate.

[0044] Preferably, the mobile loading and unloading vehicle comprises:

[0045] A first mobile base, used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0046] A vehicle-mounted conveying mechanism is arranged on the first mobile base, extending from the front end of the first mobile base to the rear end of the first mobile base, and is used for conveying materials;

[0047] A first mechanical arm is arranged on the first mobile base, and is used to place materials on the vehicle-mounted conveying mechanism, or to grab materials from the vehicle-mounted conveying mechanism and then load them onto the vehicle;

[0048] Among them, the front end of the telescopic roller line is connected to the rear end of the first mobile base, and is connected to the vehicle-mounted conveying mechanism to realize the conveyance of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism, and the first robotic arm is used to place the material on the vehicle-mounted conveying mechanism or the material conveying mechanism.

[0049] Preferably, the mobile robot comprises:

[0050] A second mobile base is used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0051] A second robotic arm is disposed on the second mobile base and is used to continuously grab and palletize the material assemblies on the main body of the material sorting line;

[0052] A bottom supporting fixture is arranged at the end of the second mechanical arm.

[0053] Compared with the prior art, the utility model has the following beneficial effects:

[0054] In the utility model, a series of retractable roller units are provided, each roller unit includes at least one roller for supporting and conveying materials. The roller is driven to rotate by a driving mechanism to realize the conveying of materials, and support rods are provided between adjacent rollers for cooperating with the rollers to support and convey the materials, thereby avoiding that when the retractable roller line is stretched, the distance between two adjacent rollers becomes larger, causing small-volume materials to be trapped between the adjacent rollers, thereby improving the material conveying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the utility model will become more obvious:

[0056] Figure 1 This is a schematic diagram of the structure of the telescopic roller line in the embodiment of the utility model;

[0057] Figure 2 This is a schematic diagram of the working state of the telescopic roller line in the embodiment of the utility model;

[0058] Figure 3 This is a schematic diagram of the matching relationship between the roller and the support rod in the embodiment of the utility model;

[0059] Figure 4 This is a structural schematic diagram of the scissor plate assembly in an embodiment of the utility model;

[0060] Figure 5 It is a structural schematic diagram of the telescopic roller line in a modified example of the utility model;

[0061] Figure 6 This is a structural schematic diagram of a loading and unloading vehicle system in an embodiment of the utility model;

[0062] Figure 7 This is a structural schematic diagram of a mobile loading and unloading vehicle in an embodiment of the utility model;

[0063] Figure 8 This is a structural schematic diagram of a material handling and conveying platform in an embodiment of the utility model;

[0064] Fig. 9 A schematic diagram of the structure of a mobile robot in an embodiment of the utility model; and

[0065] Fig.10 It is a schematic structural diagram of the bottom supporting clamp in the embodiment of the utility model.

[0066] In the figure:

[0067] 1 is a telescopic roller line; 101 is a roller; 102 is a support rod; 103 is a limit rib; 1031 is a rib roller; 1032 is a transverse rib; 104 is a support leg; 105 is a first scissor plate; 106 is a second scissor plate; 107 is a first connecting piece; 108 is a second connecting piece; 109 is a third connecting piece; 110 is a fourth connecting piece; 2 is a mobile robot; 201 is a second mobile base; 2031 is a bottom supporting mechanism; 2032 is a suction cup array; 20 33 is a suction cup; 2034 is a conveyor belt; 202 is a second mechanical arm; 203 is a bottom clamp; 3 is a mobile loading and unloading vehicle; 301 is a first mobile base; 302 is a first mechanical arm; 4 is a container; 5 is a vehicle-mounted conveying mechanism; 6 is a material tray; 7 is a safety fence; 8 is a material sorting conveying platform; 801 is the main body of the material sorting line; 802 is an edge return baffle; 803 is a push plate; 804 is an edge push mechanism; 9 is a front conveying mechanism; 10 is a camera support rod; 10 is a second safety radar. DETAILED DESCRIPTION

[0068] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0069] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the utility model described here, for example, can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0070] The following specific embodiments are used to describe the technical solution of the utility model in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0071] The following specific embodiments are used to describe in detail the technical solution of the utility model and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the utility model will be described below in conjunction with the accompanying drawings.

[0072] Figure 1 This is a schematic diagram of the structure of the telescopic roller line in the embodiment of the utility model. Figure 2 Schematic diagram of the working state of the telescopic roller line in the embodiment of the utility model, as shown in Figure 1 , Figure 2 As shown, the telescopic roller line 1 provided by the utility model comprises:

[0073] A series of retractable roller units, each roller unit comprising at least one roller 101, for supporting and conveying materials;

[0074] A driving mechanism, used to drive the drum to rotate so as to transport the material;

[0075] A support rod 102 is disposed between adjacent rollers 101 and is used to cooperate with the rollers 101 to support and transport the material;

[0076] A scissor plate assembly, wherein the scissor plate assembly is arranged on both sides of the drum unit;

[0077] The shear plate assembly includes a plurality of first shear plates 105 arranged in parallel and a plurality of second shear plates 106 arranged in parallel;

[0078] Each of the rollers 101 is hinged to the upper ends of the corresponding first shearing plate 105 and the second shearing plate 106 at the same time.

[0079] When the shear plate assembly is stretched, the distance between adjacent rollers 101 increases.

[0080] In the embodiment of the utility model, the driving mechanism may use a driving motor, in conjunction with a belt pulley, etc. to drive the roller;

[0081] The limiting retaining edges 103 are arranged on both sides of the roller unit to prevent the box and other materials on the roller unit from falling off;

[0082] Figure 3 Schematic diagram of the matching relationship between the roller and the support rod in the embodiment of the utility model, as shown in Figure 3 As shown, the support rod 102 is located in the middle between two adjacent rollers 101 to support the middle area between the adjacent rollers 101 .

[0083] Figure 4Schematic diagram of the structure of the shear plate assembly in the embodiment of the utility model, as shown in Figure 4 As shown, the middle section of the first shearing fork plate 105 is hinged to the middle section of the corresponding second shearing fork plate 106; the upper end of the first shearing fork plate 105 is hinged to the top of the previous second shearing fork plate 106, and the lower end is hinged to the bottom end of the next second shearing fork plate 106;

[0084] The middle section of the second shearing fork plate 106 is hinged to the corresponding middle section of the first shearing fork plate 105 ; the upper end of the second shearing fork plate 106 is hinged to the top of the previous first shearing fork plate 105 , and the lower end is hinged to the bottom end of the next first shearing fork plate 105 .

[0085] One end of the support rod 102 is hinged to a first shear plate 105 located at one side of the drum unit through a first connecting piece 107, and is hinged to a second shear plate 106 located at one side of the drum unit through a second connecting piece 108;

[0086] The other end of the support rod 102 is hinged to the first shear plate 105 located at the other side of the drum unit through the third connecting piece 109, and is hinged to the second shear plate 106 located at the other side of the drum unit through the fourth connecting piece 110.

[0087] In the embodiment of the utility model, both ends of each roller unit are provided with limited retaining edges 103;

[0088] The top end of the limiting rib 103 extends into a transverse rib 1032 along the extension direction of the roller unit;

[0089] A rib roller 1031 is disposed at each end of the transverse rib 1032 .

[0090] The two adjacent limiting ribs 103 have different heights and the transverse ribs 1032 are offset in the width direction;

[0091] When the roller unit is compressed, an adjacent limiting rib 103 shrinks to the lower side of the other limiting rib 103 .

[0092] The drum unit is provided with a plurality of supporting legs 104, which can facilitate the movement of the drum unit and the extension and retraction of the drum unit.

[0093] Figure 5 Schematic diagram of the structure of the telescopic roller line in the modified example of the utility model, as shown in Figure 5 As shown, a plurality of adjacent limiting ribs 103 form a limiting rib group;

[0094] In a limiting rib group, each limiting rib 103 has a different height;

[0095] When the roller unit is compressed, an adjacent transverse rib 1032 in the position limiting rib group shrinks to the lower side of another transverse rib 1032 .

[0096] In a modified example of the utility model, the limiting rib group includes four limiting ribs 103 , and the heights of the four limiting ribs 103 increase sequentially. When the drum unit is compressed, the rear lateral rib 1032 in the limiting rib group shrinks to the lower side of the front lateral rib 1032 .

[0097] Figure 6 Schematic diagram of the structure of the loading and unloading system in the embodiment of the utility model, as shown in FIG. Figure 6 As shown, the unloading system based on the mobile robot provided by the utility model comprises: a mobile loading and unloading vehicle 3, a material tray 6, a telescopic roller line 1 and a mobile robot 2;

[0098] A mobile loading and unloading vehicle 3, used to place the material to be unloaded on the vehicle-mounted conveying mechanism 5 or the telescopic roller line 1;

[0099] A telescopic roller line 1, the front end of which is connected to the mobile loading and unloading vehicle 3, and the rear end of which is connected to the mobile robot 2, for conveying materials into the operating range of the mobile robot 2;

[0100] The mobile robot 2 is used to stack the materials conveyed by the telescopic roller line 1 on the material tray 6;

[0101] The material trays 6 are arranged on both sides of the mobile robot 1 .

[0102] In an embodiment of the utility model, a plurality of the material pallets 6 are arranged in sequence to form a pallet array, and a moving channel is formed between two columns of the pallet array; the moving channel is used for the movement of the mobile loading and unloading vehicle 3 when loading materials; the mobile loading and unloading vehicle 3 moves along the moving channel to sequentially stack the materials on the telescopic roller line 1 on the material pallet 6.

[0103] In the embodiment of the present invention, the length ratio between the stretched state of the telescopic roller wire 1 and the compressed state of the telescopic roller wire 1 is between 2 and 3, preferably 2.5.

[0104] The material is a target box.

[0105] In an embodiment of the utility model, an inclined roller is provided on the telescopic roller line 1. Through the setting of the inclined roller, the target box on the telescopic roller line 1 can be returned to the edge, and the target box is returned to a material sorting table. The image of the target box on the material sorting table is collected by the set camera unit, and then the mobile robot 2 is controlled to grab and place the returned target box.

[0106] like Figure 6 As shown, the front end of the mobile robot 2 is connected to a material handling and conveying platform 8;

[0107] The rear end of the material handling and conveying platform 8 is butted against the front end of the telescopic roller line 1;

[0108] The material sorting and conveying platform 8 is used to sort the multiple materials conveyed by the telescopic roller line 1 to form a material assembly for the mobile robot 2 to grasp at one time.

[0109] Figure 8 Schematic diagram of the structure of the material handling and conveying platform in the embodiment of the utility model, as shown in FIG. Figure 8 As shown, in the embodiment of the utility model, the material handling and conveying platform 8 comprises:

[0110] The material handling line body 801 is used for conveying the materials;

[0111] The edge return baffle 802 is arranged on the material sorting line body 801 and is used to prevent the material from sliding down;

[0112] A push plate 803 is provided on the material sorting line body 801 and is arranged opposite to the edge return baffle 802, and is used to push the material close to the edge return baffle 402;

[0113] The push plate driving mechanism is used to drive the push plate 403 to move relative to the edge return baffle 802 to push the material close to the edge return baffle 802.

[0114] The feeding port of the material processing line body 801 is provided with a side pushing mechanism 804;

[0115] The edge-pushing mechanism 804 is used to guide the target box flowing into the material-arranging line body 801 so as to move the target box to the other side of the material-arranging line body 801 .

[0116] In addition, when there is no need to sort the materials in the target box, the electric cylinder drives the guide plate to leave the upper side of the telescopic conveyor 100 to allow the target box to pass directly.

[0117] The edge pushing mechanism 804 includes a telescopic mechanism and a front pushing frame; the front pushing frame is arranged at the front end of the telescopic mechanism; the rear end of the telescopic mechanism is connected to the material handling line main body 801 through a fixed frame;

[0118] The fixed frame is provided with a first sensor, and the first sensor is used to trigger the edge pushing mechanism. When the first sensor detects the target box, the edge pushing mechanism performs an edge pushing operation on the target box.

[0119] A second sensor is provided at the discharge port end of the material sorting line body 801, and the second sensor is used to trigger the material sorting action of the material sorting conveyor line. When the second sensor detects the target box, the push plate driving mechanism pushes the push plate to push the target box to perform material sorting operation.

[0120] Figure 7 Schematic diagram of the structure of the mobile loading and unloading vehicle in the embodiment of the utility model, as shown in FIG. Figure 7 As shown, the mobile loading and unloading vehicle comprises:

[0121] A first mobile base 301 is used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0122] The vehicle-mounted conveying mechanism 5 is arranged on the first mobile base 301, extending from the front end of the first mobile base 301 to the rear end of the first mobile base 301, and is used for conveying materials;

[0123] The first mechanical arm 302 is disposed on the first mobile base 301 and is used to place materials on the vehicle-mounted conveying mechanism 5 , or to grab materials from the vehicle-mounted conveying mechanism 5 and then load them onto the vehicle.

[0124] A material conveying mechanism, the front end of which is connected to the rear end of the first mobile base and is connected to the vehicle-mounted conveying mechanism to realize the conveyance of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism;

[0125] In the embodiment of the utility model, the material conveying mechanism adopts the telescopic roller line 1;

[0126] The first robot arm can rotate 90° when side-sucking the target box to place the material on the vehicle-mounted conveying mechanism, or rotate the material side-sucking 180° to place the material on the material conveying mechanism.

[0127] Among them, it is preferred to rotate the target box 90 degrees after side suction or top suction to place the material on the vehicle-mounted conveying mechanism, and then transfer it to the material conveying mechanism by the vehicle-mounted conveying mechanism to improve the unloading efficiency of the material;

[0128] When there is a requirement for the placement angle of the material, the material can be placed on the material conveying mechanism by rotating 180°.

[0129] In the embodiment of the utility model, the vehicle-mounted conveying mechanism 5 includes a first vehicle-mounted conveying section and a second vehicle-mounted conveying section;

[0130] An S-shaped structure is formed between the first vehicle-mounted conveying section and the second vehicle-mounted conveying section;

[0131] The first vehicle-mounted conveying section and the second vehicle-mounted conveying section cooperate to convey the conveyed material to the material conveying mechanism in an S-shaped route.

[0132] The first vehicle-mounted conveying section includes a plurality of first rollers arranged in sequence; the diameter of the first rollers gradually increases in a direction from the inner end of the first rollers to the outer end of the first rollers;

[0133] The second vehicle-mounted conveying section includes a plurality of second rollers arranged in sequence; the diameter of the second rollers gradually decreases in a direction from the inner end of the second roller to the outer end of the second roller.

[0134] The mobile loading and unloading vehicle 3 comprises:

[0135] A first mobile base 301 is used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0136] The first mechanical arm 302 is disposed on the first mobile base 301 and is used to continuously grab the materials on the material tray 6 and place them on the telescopic roller line 1;

[0137] The first visual perception module is arranged at the end of the first mechanical arm 302 and is used to collect image information of the material on the material tray 6 .

[0138] Fig. 9 Schematic diagram of the structure of the mobile robot in the embodiment of the utility model, as shown in Fig. 9 As shown, the mobile robot 2 comprises:

[0139] The second mobile base 201 is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0140] The second robot arm 202 is disposed on the second mobile base 201 and is used to continuously grab and palletize the material assemblies on the material handling line main body 401;

[0141] The end of the second mechanical arm 202 is provided with a bottom supporting fixture 203. Fig.10 Schematic diagram of the structure of the bottom support fixture in the embodiment of the utility model, as shown in Fig.10 As shown, the bottom supporting fixture comprises:

[0142] The fixture body;

[0143] A suction cup bracket is provided with the suction cup array 2032, and the suction cup array 2032 is used to suck the target box. The suction cup bracket is provided on a side surface of the clamp body and can move along a first direction; the suction cup array 2032 is provided with a plurality of suction cups 2033 arranged in a matrix.

[0144] A bottom supporting mechanism 2031, located on the clamp body, capable of moving in a second direction opposite to the first direction;

[0145] A driving module, wherein the driving module connects the suction cup bracket and the bottom supporting mechanism 2031 via a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom supporting mechanism 2031 to perform reverse movements simultaneously.

[0146] In the embodiment of the utility model, the driving transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt 2034;

[0147] The driving wheel is arranged on the output shaft of the driving module;

[0148] The driven wheel is arranged at the front end of the fixture body; the driving wheel is connected to the driven wheel through the conveyor belt;

[0149] The suction cup bracket is connected to one side of the conveyor belt 2034 , and the bottom supporting mechanism 2031 is connected to the other side of the conveyor belt 2034 , thereby realizing reverse linkage between the suction cup bracket and the bottom supporting mechanism 2031 .

[0150] In an embodiment of the utility model, the driving module is connected to the driving wheel through a reducer to drive the driving wheel to rotate; the driven wheel is arranged in the middle area of ​​the connecting cross bar at the front end of the clamp body, and the driven wheel is connected to the connecting cross bar through a synchronous wheel mounting plate, and four support rods are arranged on the synchronous wheel mounting plate, and a synchronous wheel cover plate is arranged on the top of the support rod, and the synchronous wheel cover plate and the four support rods form a protective cover for the driven wheel.

[0151] In the embodiment of the utility model, a series of retractable roller units are provided, each roller unit includes at least one roller for supporting and conveying materials, the roller is driven to rotate by a driving mechanism to realize the conveying of materials, and a support rod is provided between adjacent rollers for cooperating with the rollers to support and convey the materials, thereby avoiding that when the retractable roller line is stretched, the distance between two adjacent rollers becomes larger, resulting in a small volume of materials being trapped between the adjacent rollers, thereby improving the conveying efficiency of materials;

[0152] The first mobile base moves to any position or pauses at any position and determines the orientation angle according to the received control command; the vehicle-mounted conveying mechanism is arranged on the first mobile base, and is extended from the front end of the first mobile base to the rear end of the first mobile base for conveying materials; the front end of the material conveying mechanism is connected to the rear end of the first mobile base, and is connected to the vehicle-mounted conveying mechanism to realize the conveyance of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism; the first mechanical arm is arranged on the first mobile base, and can suck the material sideways or topways and then rotate 90° to place the material on the vehicle-mounted conveying mechanism, and the material is transmitted from the vehicle-mounted conveying mechanism to the material conveying mechanism to improve the unloading efficiency of the material; when there is a requirement for the placement angle of the material, the material can be sucked sideways or topways and then rotated 180° to place the material on the material conveying mechanism.

[0153] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the utility model. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

[0154] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention.

Claims

1. A telescopic roller line, characterized in that: include: a series of retractable roller units, each roller unit including at least one roller for supporting and conveying materials; A driving mechanism, used to drive the drum to rotate so as to transport the material; The support rod is arranged between the adjacent rollers and is used to cooperate with the rollers to support and transport the materials.

2. The telescopic roller line according to claim 1, characterized in that: Also includes: Scissor plate assembly; The shear plate assembly is arranged on both sides of the roller unit; The shear plate assembly comprises a plurality of first shear plates arranged in parallel and a plurality of second shear plates arranged in parallel; Each of the rollers is hinged to the corresponding upper ends of the first shearing plate and the second shearing plate at the same time.

3. The telescopic roller line according to claim 2, characterized in that: The middle section of the first shearing fork plate is hinged to the middle section of the corresponding second shearing fork plate; the upper end of the first shearing fork plate is hinged to the top end of the previous second shearing fork plate, and the lower end is hinged to the bottom end of the next second shearing fork plate; The middle section of the second shearing fork plate is hinged to the corresponding middle section of the first shearing fork plate; the upper end of the second shearing fork plate is hinged to the top end of the previous first shearing fork plate, and the lower end is hinged to the bottom end of the next first shearing fork plate.

4. The telescopic roller line according to claim 3, characterized in that: One end of the support rod is hinged to a first shear plate located at one side of the drum unit through a first connecting piece, and is hinged to a second shear plate located at one side of the drum unit through a second connecting piece; The other end of the support rod is hinged to the first shear plate located at the other side of the drum unit through the third connecting piece, and is hinged to the second shear plate located at the other side of the drum unit through the fourth connecting piece.

5. The telescopic roller line according to claim 2, characterized in that: When the shear plate assembly is stretched, the distance between adjacent rollers increases; The support rod is located at a middle position between two adjacent rollers to support a middle area between the adjacent rollers.

6. The telescopic roller line according to claim 1, characterized in that: Both ends of each of the roller units are provided with limited ribs; The top end of the limiting rib extends into a transverse rib along the extension direction of the roller unit; A rib roller is respectively arranged at both ends of the transverse rib.

7. The telescopic roller line according to claim 6, characterized in that: The two adjacent limiting ribs have different heights; When the roller unit is compressed, an adjacent transverse rib contracts to the lower side of the other transverse rib.

8. The telescopic roller line according to claim 6, characterized in that: A plurality of adjacent limiting ribs form a limiting rib group; In a limiting rib group, each limiting rib has a different height; When the roller unit is compressed, an adjacent transverse rib in the position limiting rib group shrinks to the lower side of another transverse rib.

9. A loading and unloading vehicle system, characterized in that: include: The telescopic roller line, mobile loading and unloading vehicle, material pallet and mobile robot according to any one of claims 1 to 8; A mobile loading and unloading vehicle, used to place the material to be unloaded on its onboard conveying mechanism or on the telescopic roller line; A telescopic roller line, the front end of which is connected to the mobile loading and unloading vehicle and the rear end is connected to the mobile robot, and is used to convey materials into the operating range of the mobile robot; Material trays, arranged on both sides of the mobile robot; The mobile robot is used to stack the materials conveyed by the telescopic roller line on the material tray.

10. The loading and unloading vehicle system according to claim 9, characterized in that: The front end of the mobile robot is connected to a material handling and conveying platform; The front end of the material handling and conveying platform is butted against the rear end of the telescopic roller line; The material sorting and conveying platform is used to sort the multiple materials conveyed by the telescopic roller line to form a material assembly for the mobile robot to grasp at one time.

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