Loading and unloading vehicle system based on height lifting

Abstract

The utility model provides a loading and unloading vehicle system based on height lifting. The loading and unloading vehicle system comprises a first robot, a telescopic belt conveyor, a dock leveler and a second robot. The first robot is used for placing materials to be loaded on the telescopic belt conveyor or placing the materials on the telescopic belt conveyor on the tray; the front end of the telescopic belt conveyor is in butt joint with the second robot, and the telescopic belt conveyor is used for conveying the materials into the operation range of the second robot or conveying the materials into the operation range of the first robot; the second robot is used for moving into a specified compartment according to the received first control instruction and moving and operating in the compartment according to the operation progress to realize loading of the materials or unloading of the materials placed on the telescopic belt conveyor; and the dock leveler is arranged at the feeding port of the compartment body and used for lifting the second robot so that the second robot can move into the compartment body. The application scene of the loading and unloading vehicle system is expanded, and the loading and unloading efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent manufacturing and high -end manufacturing, specifically, relate to a kind of based on height lifting's loading and unloading system. BACKGROUND

[0002] Robot, is a kind of sensor, objective lens and electronic optical system Intelligent equipment, can quickly carry sorting and handling.

[0003] More and more vision sensors, force sensors will use robot, robot will become more and more intelligent. With the progress of sensing and identification system, artificial intelligence and other technologies, robot from being unidirectional control to own storage, own application data direction development, gradually informatization.

[0004] In order to expand the application scene and application range of robot, the prior art is manufactured by installing robot to mobile base to make mobile robot, so as to realize the movement of robot to realize mobile destacking and mobile picking and other functions. When carrying out fast-paced stacking or destacking in narrow environment such as container, two mobile robots are often needed to work simultaneously, and the material is transmitted between the two industrial robots through telescopic roller line or belt conveyor, but when there is height difference between the two mobile robots and height difference between the mobile robot and the container, it often causes difficulty in feeding and discharging operation. UTILITY MODEL CONTENT

[0005] In view of the defects in the prior art, the utility model aims to provide a kind of based on height lifting's loading and unloading system.

[0006] According to the loading and unloading system based on height lifting provided by the utility model, it comprises: first robot, telescopic belt conveyor, loading bridge and second robot;

[0007] The first robot is used to place the material to be loaded on the telescopic belt conveyor or place the material on the telescopic belt conveyor on the tray;

[0008] The telescopic belt conveyor is connected to the second robot at the front end, for conveying the material into the working range of the second robot or conveying the material into the working range of the first robot;

[0009] The second robot is used to move to the specified compartment according to the received first control instruction and / or the second control instruction generated by its own processor, and move in the compartment according to the work progress to realize the loading of the material or the unloading of the material on the telescopic belt conveyor;

[0010] The loading bridge is arranged at the material inlet of the compartment body and is used to lift the second robot so that the second robot can move into the compartment body.

[0011] Preferably, the telescopic belt conveyor comprises a feeding conveying mechanism, a first-stage telescopic mechanism, a second-stage telescopic mechanism and a third-stage telescopic mechanism.

[0012] The second-stage telescopic mechanism is arranged in the first-stage telescopic mechanism and can extend and retract along the first-stage telescopic mechanism; the third-stage telescopic mechanism is arranged in the second-stage telescopic mechanism and can extend and retract along the second-stage telescopic mechanism.

[0013] The rear end of the feeding conveying mechanism is hinged to the first-stage telescopic mechanism and is used to convey materials from the feeding conveying mechanism to the first-stage telescopic mechanism.

[0014] Preferably, the feeding conveying mechanism is in a state of inclining to the first robot.

[0015] Preferably, the loading bridge comprises a base frame and a lifting frame.

[0016] The lifting frame is arranged on the base frame and can be lifted along the height direction of the base frame.

[0017] The lifting frame is used to carry the second robot to lift the second robot.

[0018] Preferably, the front end of the telescopic belt conveyor is hinged to the second robot through the flexible matching conveying line.

[0019] Preferably, when the second robot moves away from the telescopic belt conveyor, the telescopic belt conveyor is elongated to match the moving away of the second robot.

[0020] When the second robot moves towards the telescopic belt conveyor, the telescopic belt conveyor is shortened to match the moving towards of the second robot.

[0021] Preferably, the flexible matching conveying line is provided with a first sensor and a second sensor.

[0022] The first sensor is used to detect the length change of the flexible matching conveying line.

[0023] The second sensor is arranged at one end of the flexible matching conveying line close to the telescopic belt conveyor and is used to detect the angle change of the flexible matching conveying line.

[0024] Preferably, when the first sensor detects that the length of the flexible matching conveying line is lengthened, the telescopic belt conveyor is controlled to be lengthened; when the first sensor detects that the length of the flexible matching conveying line is shortened, the telescopic belt conveyor is controlled to be shortened.

[0025] When the second sensor detects that the flexible matching conveying line is lifted upward, the telescopic belt conveyor is controlled to be lifted upward; when the second sensor detects that the flexible matching conveying line is drooped, the telescopic belt conveyor is controlled to be drooped.

[0026] Preferably, the flexible matching conveying line is a material sorting conveying line.

[0027] The second robot comprises a moving base, and the material sorting conveying line is arranged on the moving base.

[0028] The feeding port of the material sorting conveying line is connected with the telescopic conveyor through the flexible matching conveying line.

[0029] Preferably, the material sorting conveying line comprises:

[0030] A material sorting line body is arranged on the moving base, is connected with the telescopic conveyor through the flexible matching conveying line, and is used for conveying the target box.

[0031] An edge returning baffle is arranged on the material sorting line body and is used for preventing the target box from sliding.

[0032] A push plate is arranged on the material sorting line body and is arranged opposite to the edge returning baffle, and is used for pushing the target box to be close to the edge returning baffle.

[0033] A push plate driving mechanism is used for driving the push plate to move relative to the edge returning baffle, so that the target box is pushed to be close to the edge returning baffle.

[0034] Compared with the prior art, the utility model has the beneficial effects that:

[0035] In the utility model, through first robot, the material to be loaded is placed on the telescopic belt conveyor or the material on the telescopic belt conveyor is placed on the tray, the telescopic belt conveyor front end is connected with the second robot, the material is transported to the operation range of the second robot or the material is transported to the operation range of the first robot, the second robot moves to the inside of the specified compartment, and according to the operation progress, the operation is carried out in the compartment, the loading of the material or the unloading of the material on the telescopic belt conveyor is realized, the loading and unloading bridge is arranged at the feed inlet of the compartment, is used for lifting the second robot, so that the second robot can move to the inside of the compartment, so that the second robot can move to the inside of the compartment when there is no platform, the application scene of the loading and unloading system is expanded, and the loading and unloading efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, obviously, the drawings in the following description are only the embodiments of the utility model, and for the ordinary skilled person in the art, other drawings can be obtained according to the provided drawings without creating labor. Other features, objects and advantages of the utility model will become more apparent by reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0037] Figure 1 It is the structural schematic diagram of the loading and unloading system based on height lifting in the embodiment of the utility model;

[0038] Figure 2 It is the structural schematic diagram of the second robot in the embodiment of the utility model;

[0039] Figure 3 It is the structural schematic diagram of the telescopic belt conveyor in the embodiment of the utility model;

[0040] Figure 4 It is the height difference schematic diagram generated by the telescopic belt conveyor extension in the embodiment of the utility model;

[0041] Figure 5 It is the structural schematic diagram of the first robot in the embodiment of the utility model;

[0042] Figure 6 It is the structural schematic diagram of the material sorting conveying line in the embodiment of the utility model;

[0043] Figure 7 It is the bottom structure schematic diagram of the material sorting conveying line in the embodiment of the utility model;

[0044] Figure 8It is the working state schematic view of the material arranging conveying line in the embodiment of the utility model.

[0045] Figure 9 It is the structure schematic view of the clamp in the embodiment of the utility model.

[0046] In the drawing,

[0047] 1 is a first robot; 2 is a telescopic belt conveyor; 3 is a flexible matching conveying line; 4 is a second robot; 5 is a loading bridge; 6 is a container; 7 is a clamp; 101 is a first mobile base; 102 is a third mechanical arm; 201 is a first telescopic mechanism, 202 is a second telescopic mechanism, 203 is a third telescopic mechanism, 204 is a hydraulic cylinder; 205 is a feeding conveying mechanism; 401 is a material arranging conveying line; 4011 is a material arranging line main body; 4012 is an edge returning baffle; 4013 is a push plate; 4014 is a push plate driving mechanism; 4015 is a front baffle lifting mechanism; 40111 is a left side mounting plate; 40112 is a right side mounting plate; 40113 is a roller; 40141 is a first driving motor; 40142 is a screw rod; 40143 is a screw rod output block; 40144 is a cross beam; 40145 is a first synchronous pulley; 40146 is a second synchronous pulley; 40151 is a second driving motor; 40152 is a lifting arm; 40153 is a front baffle lifting plate; 40154 is a second guide rail; 40155 is a third guide rail; 40156 is a mounting bottom plate; 402 is a second mobile base; 701 is a clamp main body; 702 is a suction cup support; 703 is a bottom supporting mechanism; 704 is a suction cup array. DETAILED DESCRIPTION

[0048] The utility model will be explained in detail below in combination with specific embodiments. The following embodiments will help the person 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 ordinary skilled in the art, without departing from the concept of the utility model, a number of variations and improvements can be made. These all belong to the protection scope of the utility model.

[0049] It should be noted that when an element is referred to as being "fixed to" or "set to" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit communication.

[0050] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0051] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the utility model, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0052] Figure 1 For the structure diagram of the loading and unloading system based on height lifting in the embodiments of the utility model, as shown in Figure 1 The utility model provides a loading and ununload system based on height lifting, which comprises a first robot 1, a telescopic belt conveyor 2, a loading bridge 5 and a second robot 4.

[0053] The first robot 1 is used for placing the material to be loaded on the telescopic belt conveyor 2 or placing the material on the telescopic belt conveyor 2 on the tray.

[0054] The telescopic belt conveyor 2 is connected to the second robot 4 at the front end and is used for conveying the material to the working range of the second robot 4 or conveying the material to the working range of the first robot 1.

[0055] The second robot 4 is used for moving to the inside of the specified container 6 according to the received first control instruction and / or the second control instruction generated by the processor itself, and moving the work in the container according to the work progress, so as to realize the loading of the material or the unloading of the material on the telescopic belt conveyor 2.

[0056] The loading bridge 5 is arranged at the feeding port of the container and is used for lifting the second robot 4, so that the second robot 4 can move to the inside of the container.

[0057] In an embodiment of the utility model, the loading bridge 5 comprises a chassis and a lifting frame.

[0058] The lifting frame is arranged on the chassis and can be lifted along the height direction of the chassis.

[0059] The lifting frame is used for carrying the second robot 4 to lift the second robot 4.

[0060] Figure 3 A structure diagram of the telescopic belt conveyor in the embodiment of the utility model is shown in the figure, Figure 3 The telescopic belt conveyor 2 comprises a feeding conveying mechanism 205, a first-stage telescopic mechanism 201, a second-stage telescopic mechanism 202 and a third-stage telescopic mechanism 203.

[0061] The second-stage telescopic mechanism 202 is arranged in the first-stage telescopic mechanism 201 and can be extended and retracted along the first-stage telescopic mechanism 201; the third-stage telescopic mechanism 203 is arranged in the second-stage telescopic mechanism 202 and can be extended and retracted along the second-stage telescopic mechanism 202.

[0062] The rear end of the feeding conveying mechanism 205 is hinged to the first-stage telescopic mechanism 201 and is used for conveying materials from the feeding conveying mechanism 205 to the first-stage telescopic mechanism 201.

[0063] In the embodiment of the utility model, the feeding conveying mechanism 205 is in an inclined state towards the first robot.

[0064] The upper surfaces of the first-stage telescopic mechanism 201, the second-stage telescopic mechanism 202 and the third-stage telescopic mechanism 203 are flush and share the same conveying belt 205.

[0065] In the embodiment of the utility model, the telescopic belt conveyor 2 can also be provided with five-stage telescopic mechanisms.

[0066] In the embodiment of the utility model, the telescopic belt conveyor 2 further comprises a hydraulic cylinder 204, which is used to support the body of the telescopic belt conveyor 2 and adjust the pitch angle to adapt to different working scenarios of different heights.

[0067] In the embodiment of the utility model, the rollers can be arranged below the chassis of the telescopic belt conveyor 2, and the rollers can be connected with the servo motor to realize the autonomous movement of the telescopic belt conveyor 2, or only the rollers can be arranged to realize the pushing of the telescopic belt conveyor 2.

[0068] The side of the telescopic belt conveyor 2 close to the second robot 4 extends into the working space by a preset length or retracts by a preset length according to the received first control instruction and / or the second control instruction generated by the processor of the telescopic belt conveyor 2 during work.

[0069] Exemplarily, the telescopic belt conveyor 2 is close to one side of the second robot 4, and in operation, according to the received first control instruction and / or the second control instruction generated by the processor itself, the telescopic belt conveyor 2 extends into the operation space by a preset length or retracts by a preset length.

[0070] In the embodiment of the utility model, the telescopic belt conveyor 2 can realize automatic extension and retraction, thereby adapting to different operation scene requirements. Taking a container as an example, in initial loading, the telescopic belt conveyor 2 can be extended to a deep position inside the container, and along with the execution of the loading task, the telescopic belt conveyor 2 is slowly retracted to the outside of the container as needed, thereby enabling the second robot 4 operating inside the container to more efficiently load materials. Correspondingly, in the unloading scene, it is just the opposite, and the telescopic belt conveyor 2 is slowly extended into the container according to the execution of the unloading task.

[0071] In the embodiment of the utility model, the electrical connection line of the second robot 4 extends along the flexible matching conveying line 3 and the telescopic belt conveyor 2.

[0072] In the embodiment of the utility model, the front end of the telescopic belt conveyor is hinged to the second robot 4 through the flexible matching conveying line 3, specifically, one end of the flexible matching conveying line 3 is hinged to the rear end of the second robot 4, and the other end is hinged to the tail end of the telescopic belt conveyor 2.

[0073] In the embodiment of the utility model, when the second robot 4 moves away from the telescopic belt conveyor 2, the telescopic belt 2 is elongated to cooperate with the away movement of the second robot 4.

[0074] When the second robot 4 moves towards the telescopic belt conveyor 2, the telescopic belt conveyor 2 is shortened to cooperate with the close movement of the second robot 4.

[0075] In the embodiment of the utility model, the flexible matching conveying line 3 is used for flexible adjustment when the telescopic belt conveyor 2 is elongated and shortened.

[0076] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 is elongated too long so that the flexible matching conveying line 3 is compressed and lifted, the telescopic belt conveyor 2 is controlled to fall so that the flexible matching conveying line 3 falls to the ground.

[0077] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 is elongated too short so that the flexible matching conveying line 3 is pressed down, the telescopic belt conveyor 2 is controlled to rise.

[0078] In the embodiment of the utility model, the flexible matching conveying line 3 is provided with a first sensor and a second sensor.

[0079] the first sensor is arranged on the flexible matching conveying line 3 and is used for detecting the length change of the flexible matching conveying line 3.

[0080] the second sensor is arranged on the flexible matching conveying line 3 and is used for detecting the angle change of the flexible matching conveying line 3.

[0081] when the first sensor detects that the length of the flexible matching conveying line 3 is lengthened, the telescopic belt conveyor 2 is controlled to be lengthened; when the first sensor detects that the length of the flexible matching conveying line 3 is shortened, the telescopic belt conveyor 2 is controlled to be shortened.

[0082] when the second sensor detects that the flexible matching conveying line 3 is lifted upward, the telescopic belt conveyor 2 is controlled to be lifted upward; when the second sensor detects that the flexible matching conveying line 3 is drooped, the telescopic belt conveyor 2 is controlled to be drooped.

[0083] In an embodiment of the utility model, the first sensor adopts a pull rope sensor, the main body of the pull rope sensor is arranged on the flexible matching conveying line 3 and is close to one end of the telescopic belt conveyor 2, and the steel wire rope of the pull rope sensor is connected to one end of the flexible matching conveying line 3 and is close to the telescopic belt conveyor 2; therefore when the flexible matching conveying line 3 is lengthened, the steel wire rope is also pulled, so that the pull rope sensor can detect the length change of the flexible matching conveying line 3.

[0084] the second sensor adopts an angle sensor, when the flexible matching conveying line 3 is lifted upward or is drooped, the second sensor can detect the corresponding angle change, so that the telescopic belt conveyor 2 is controlled to be lifted upward or to be drooped; the flexible matching conveying line 3 adopts a telescopic roller line.

[0085] Figure 4 the height difference schematic view generated by the telescopic belt conveyor in the embodiment of the utility model is shown as Figure 4 when the telescopic belt conveyor 2 is lengthened, because the angle of the belt conveyor is changed when the belt conveyor is lengthened, therefore the end target position of the telescopic belt conveyor 2 has a height difference with the end original position, at this time if the telescopic belt conveyor 2 is directly connected to the conveying machine 403, the target box body cannot be conveyed to the conveying machine 403, and the end height of the telescopic belt conveyor 2 and the length of the telescopic belt conveyor 2 need to be adjusted repeatedly and accurately for many times, so that the end of the telescopic belt conveyor 2 is accurately connected to the conveying machine 403.

[0086] When the telescopic belt conveyor 2 is connected with the conveyor 403 through the flexible matching conveying line 3, only the flexible matching conveying line 3 can relieve the problem of being unable to convey the target box due to the height difference by deforming, and the deformation of the flexible matching conveying line 3 can also provide a visual reference for adjusting the height of the end of the telescopic belt conveyor 2, so that the end of the telescopic belt conveyor 2 is conveniently adjusted.

[0087] Figure 2 As shown in a structural schematic view of the second robot in the embodiment of the utility model, the vehicle loading and unloading system based on height lifting provided by the utility model also comprises a material sorting conveying line 401. Figure 2

[0088] The second robot 4 comprises a second mobile base 402, and the material sorting conveying line 401 is arranged on the second mobile base 402.

[0089] The feeding port of the material sorting conveying line 401 is connected with the telescopic conveyor through the flexible matching conveying line 3.

[0090] A first mechanical arm is arranged at the front end of the mobile base 402 and is used for moving the target box conveyed by the material sorting conveying line 401 to a target position or moving the target box on the feeding position to the material sorting conveying line 401.

[0091] Figure 5 As shown in a structural schematic view of the first robot in the embodiment of the utility model, in the embodiment of the utility model, the first robot 1 comprises: Figure 5

[0092] A first mobile base 101 can move to any position or pause at any position and determine an angle of orientation according to a received control instruction.

[0093] A first mechanical arm 102 is arranged on the first mobile base 101 and is used for moving the target box of the tray to the telescopic belt conveyor 2.

[0094] In the variant of the utility model, the first robot 1 can be a fixed-position robot.

[0095] Figure 6 As shown in a structural schematic view of the material sorting conveying line in the embodiment of the utility model, the material sorting conveying line 401 comprises: Figure 6

[0096] A material sorting line main body 401 is arranged on the mobile base, is connected with the telescopic conveyor through the flexible matching conveying line 3, and is used for conveying the target box.

[0097] ​​​An edge returning baffle 4012 is arranged on the sorting line body 401 and is used to prevent the target box from falling off;

[0098] A pushing plate 4013 is arranged on the sorting line body 401 and is arranged opposite to the edge returning baffle 4012 and is used to push the target box to be close to the edge returning baffle 4012;

[0099] A pushing plate driving mechanism 4014 is used to drive the pushing plate 4013 to move relative to the edge returning baffle 4012 so as to push the target box to be close to the edge returning baffle 4012;

[0100] A front baffle lifting mechanism 4015 is arranged at the discharge port of the sorting line body 401; the front baffle lifting mechanism 4015 is used to block the target box from passing through the discharge port of the sorting line body 401 when being lifted and is used to allow the target box to pass through the discharge port of the sorting line body 401 when being retracted;

[0101] A baffle driving mechanism is used to drive the edge returning baffle 4012 to move relative to the pushing plate 4013 so as to accelerate the relative movement between the pushing plate 4013 and the edge returning baffle 4012.

[0102] In an embodiment of the utility model, the pushing plate 4013 and the edge returning baffle 4012 are arranged in parallel relative to each other.

[0103] Figure 7 As shown in the utility model embodiment, the utility model discloses a sorting conveying line structure, which comprises a sorting line body 401, a target box 4001, an edge returning baffle 4012, a pushing plate 4013, a pushing plate driving mechanism 4014, a front baffle lifting mechanism 4015 and a baffle driving mechanism. Figure 7 As shown in the utility model embodiment, the utility model discloses a sorting conveying line structure, which comprises a sorting line body 401, a target box 4001, an edge returning baffle 4012, a pushing plate 4013, a pushing plate driving mechanism 4014, a front baffle lifting mechanism 4015 and a baffle driving mechanism.

[0104] The first driving motor 40141 is used to drive the screw rod 40142 to rotate.

[0105] The screw rod nut is arranged on the screw rod 40142 and can move along the screw rod 40142 by rotating with the screw rod 40142.

[0106] The screw rod output block 40143 is arranged on the screw rod nut and moves under the driving of the screw rod nut; the pushing plate 4013 is connected to the screw rod output block 40143.

[0107] The baffle driving mechanism comprises a baffle screw rod, a baffle screw rod nut, a baffle screw rod output block and a baffle driving motor.

[0108] The baffle driving motor is used to drive the baffle screw rod to rotate.

[0109] The baffle screw nut is arranged on the baffle screw rod and can move along the screw rod with the baffle screw rod rotating;

[0110] The baffle screw rod output block is arranged on the baffle screw nut and moves under the driving of the baffle screw nut; the edge returning baffle is connected to the baffle screw rod output block.

[0111] One end of the screw rod is arranged on the left mounting plate 40111 through a bearing screw rod support fixed side assembly, and the other end is arranged on the right mounting plate through a bearing screw rod support support assembly.

[0112] In an embodiment of the utility model, a plurality of push plate support rods arranged in sequence are arranged on the screw rod output block 40143;

[0113] The material sorting line main body 401 comprises a plurality of roller cylinders 40113 arranged in sequence;

[0114] Each push plate support rod is arranged between two adjacent roller cylinders 40113 and can move along the length extension direction of the roller cylinder 40113;

[0115] The push plate 4013 is arranged on the push plate support rod.

[0116] The plurality of push plate support rods are parallel to each other.

[0117] The first driving motor 40141 is arranged on the left mounting plate 40111 or the right mounting plate 40112 through a synchronous pulley tensioning plate;

[0118] A first synchronous pulley 40145 is arranged on the output shaft of the first driving motor 40141; and a second synchronous pulley 40146 is arranged at the end of the screw rod 40142;

[0119] The first synchronous pulley 40145 and the second synchronous pulley 40146 are connected through a synchronous belt.

[0120] The front baffle lifting mechanism 4015 comprises a second driving motor 40151, a speed reducer, a lifting arm 40152, a mounting bottom plate 40156 and a front baffle lifting plate 40153;

[0121] The mounting bottom plate 40156 is arranged at the discharge port of the material sorting line main body 401;

[0122] The speed reducer is arranged on the mounting bottom plate 40156, and the second driving motor 40151 drives the lifting arm 40152 through the speed reducer;

[0123] One end of the lifting arm 40152 is connected with the output shaft of the speed reducer, and the other end is connected with the front block lifting plate 40153;

[0124] The second driving motor 40151 is used for driving the front block lifting plate 40153 to lift to block the target box from passing through the discharge port of the sorting line body 401, and driving the front block lifting plate 40153 to retract to allow the target box to pass through the discharge port of the sorting line body 401.

[0125] Both ends of the mounting bottom plate 40156 are fixed to the front ends of the left mounting plate 40111 and the right mounting plate 40112 and are connected perpendicularly with the left mounting plate 40111 and the right mounting plate 40112.

[0126] In an embodiment of the utility model, second guide rail 40154 and third guide rail 40155 are arranged on mounting bottom plate 40156;

[0127] The front block lifting plate 40153 is connected with the second guide rail 40154 through a second sliding block and is connected with the third guide rail 40155 through a third sliding block.

[0128] The front block lifting plate 40153 can slide along the height direction of the mounting bottom plate 40156 through the second guide rail 40154 and the third guide rail 40155.

[0129] In an embodiment of the utility model, the sorting line body 401 comprises a left mounting plate 40111, a right mounting plate 40112, a roller 40113 and a roller driving mechanism;

[0130] The left mounting plate 40111 and the right mounting plate 40112 are oppositely arranged.

[0131] A plurality of rollers 40113 are sequentially arranged on the left mounting plate 40111 and the right mounting plate 40112 and are rotationally connected with the left mounting plate 40111 and the right mounting plate.

[0132] The roller driving mechanism is used for driving the roller 40113 to rotate to drive the movement of the target box.

[0133] In an embodiment of the utility model, the sorting conveying line provided by the utility model further comprises a first guide rail and a cross beam 40144;

[0134] One end of the cross beam 40144 is arranged on the left mounting plate 40111, and the other end is arranged on the right mounting plate;The first guide rail is arranged on the cross beam 40144.

[0135] One end of the lead screw 40142 is fixed on the left mounting plate 40111 through a lead screw support fixed side assembly, and the other end is arranged on the right mounting plate through a lead screw support support assembly;

[0136] The lead screw output block 40143 is connected with the first guide rail through a first sliding block and can slide along the first guide rail.

[0137] Figure 9 The utility model discloses a structure schematic diagram of the clamp, the first robot 1 and the second robot 4 are provided with the clamp 7 at the end, the clamp 7 includes:

[0138] The clamp main body 701;

[0139] The suction cup support 702 is provided with a suction cup array, and the suction cup array is used for sucking the target box body.

[0140] The bottom supporting mechanism 703 is located on the clamp main body 701 and can move in the second direction opposite to the first direction.

[0141] The driving module is connected with the suction cup support 702 and the bottom supporting mechanism 703 through a driving transmission mechanism and is used for driving the suction cup support 702 and the bottom supporting mechanism 703 to move reversely at the same time.

[0142] When the suction cup support 702 sucks the target box body, the driving module drives the suction cup support 702 to move from the front end of the clamp main body 701 to the rear end of the clamp main body 701, and the bottom supporting mechanism 703 is stretched out from the front end of the clamp main body 701.

[0143] When the target box body is released, the driving module drives the suction cup support 702 to move from the rear end of the clamp main body 701 to the front end of the clamp main body 701 to push out the target box body, and the bottom supporting mechanism 703 is retracted into the clamp main body 701.

[0144] In the utility model embodiment, the driving transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt.

[0145] The driving wheel is arranged on the output shaft of the driving module.

[0146] The driven wheel is arranged at the front end of the suction cup support 702, and the driving wheel is connected with the driven wheel through the transmission belt.

[0147] The suction disc support 702 is connected to one side of the conveying belt, and the bottom supporting mechanism 703 is connected to the other side of the conveying belt.

[0148] The suction disc support 702 is provided with a suction disc array.

[0149] In the embodiment of the utility model, the first robot is used to place the material to be loaded on the telescopic belt conveyor or place the material on the telescopic belt conveyor on the tray, the telescopic belt conveyor is connected with the second robot at the front end, the material is conveyed to the working range of the second robot or the working range of the first robot, the second robot moves to the inside of the compartment, and the second robot moves in the compartment according to the working progress, realizes the loading of the material or the unloading of the material on the telescopic belt conveyor, and the loading bridge is arranged at the feeding port of the compartment and is used to lift the second robot, so that the second robot can move to the inside of the compartment, thereby the second robot can move to the inside of the compartment without the platform, the application scene of the loading and unloading system is expanded, and the loading and unloading efficiency is improved.

[0150] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between various embodiments can be referred to each other. The above description of the disclosed embodiments enables a person skilled in the art to implement or use the utility model. Various modifications to the embodiments will be apparent to those skilled in the art, 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 scope consistent with the principles and novel features disclosed herein.

[0151] The specific embodiments of the utility model are described above. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various modifications or changes within the scope of the claims, which does not affect the essential content of the utility model.

Claims

1. A high lift based truck loading and unloading system characterized by, The application relates to a material loading and unloading system. The system comprises a first robot, a telescopic belt conveyor, a loading bridge and a second robot. The first robot is used for placing materials to be loaded on the telescopic belt conveyor or placing materials on the telescopic belt conveyor on a tray. The telescopic belt conveyor is connected with the second robot at the front end and is used for conveying materials to the working range of the second robot or conveying materials to the working range of the first robot. The second robot is used for moving to a specified compartment according to a received first control instruction and / or a second control instruction generated by a self processor and moving work in the compartment according to work progress to realize loading of the materials or unloading of the materials on the telescopic belt conveyor. The loading bridge is arranged at a feeding port of the compartment and is used for lifting the second robot so that the second robot can move to the inside of the compartment.

2. The high lift based straddle carrier system according to claim 1, characterized in that, The telescopic belt conveyor comprises a feeding conveying mechanism, a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism. The second telescopic mechanism is arranged in the first telescopic mechanism and can extend and retract along the first telescopic mechanism; the third telescopic mechanism is arranged in the second telescopic mechanism and can extend and retract along the second telescopic mechanism. The rear end of the feeding conveying mechanism is hinged with the first telescopic mechanism and is used for conveying materials from the feeding conveying mechanism to the first telescopic mechanism.

3. The high lift based straddle carrier system according to claim 2, characterized in that, The feeding conveying mechanism is in a state of inclining to the first robot.

4. The high lift based straddle carrier system of claim 1, wherein, The loading bridge comprises a base frame and a lifting frame. The lifting frame is arranged on the base frame and can be lifted along the height direction of the base frame. The lifting frame is used for carrying the second robot to lift the second robot.

5. The high lift based straddle carrier system of claim 1, wherein, The front end of the telescopic belt conveyor is hinged with the second robot through a flexible matching conveying line.

6. The high lift based straddle carrier system according to claim 5, characterized in that, When the second robot moves away from the telescopic belt conveyor, the telescopic belt conveyor is elongated to match the moving away of the second robot. When the second robot moves close to the telescopic belt conveyor, the telescopic belt conveyor is shortened to match the moving close of the second robot.

7. The high lift based straddle carrier system of claim 5, wherein, First and second sensors are arranged on the flexible matching conveying line. The first sensor is used for detecting the length change of the flexible matching conveying line. The second sensor is arranged on the flexible matching conveying line close to one end of the telescopic belt conveyor and is used for detecting the angle change of the flexible matching conveying line.

8. The high lift based straddle carrier system according to claim 7, characterized in that, When the first sensor detects that the length of the flexible matching conveying line is elongated, the telescopic belt conveyor is controlled to be elongated; when the first sensor detects that the length of the flexible matching conveying line is shortened, the telescopic belt conveyor is controlled to be shortened. When the second sensor detects that the flexible matching conveying line is lifted upward, the telescopic belt conveyor is controlled to be lifted; when the second sensor detects that the flexible matching conveying line is drooped, the telescopic belt conveyor is controlled to be drooped.

9. The high lift based straddle carrier system of claim 5, wherein, The system further comprises a material sorting conveying line. The second robot comprises a moving base, and the material sorting conveying line is arranged on the moving base. The feeding port of the sorting conveying line is connected with the telescopic conveyor through the flexible matching conveying line.

10. The high lift based straddle carrier system of claim 9, wherein, The sorting conveying line comprises: a sorting line body arranged on the moving base and connected with the telescopic conveyor through the flexible matching conveying line, and used for conveying the target box; an edge returning baffle arranged on the sorting line body and used for preventing the target box from sliding; a push plate arranged on the sorting line body and arranged opposite to the edge returning baffle, and used for pushing the target box close to the edge returning baffle; a push plate driving mechanism used for driving the push plate to move relative to the edge returning baffle, so as to push the target box close to the edge returning baffle.

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