Intelligent loading and unloading device

Abstract

The utility model discloses an intelligent loading and unloading device which comprises a walking supporting mechanism, a rear lifting swing conveying mechanism and a front cantilever grabbing conveying mechanism, the rear end of the rear lifting swing conveying mechanism is installed on the walking supporting mechanism, and the intelligent loading and unloading device comprises a rear installation support, a rear conveying mechanism, a rear lifting transmission mechanism and a rear swing driving mechanism; the rear end of the front cantilever grabbing and conveying mechanism is connected with the front end of the rear lifting and swinging conveying mechanism; the front cantilever grabbing and conveying mechanism comprises a front mounting bracket, a vacuum chuck grabbing mechanism, a grabbing mechanism dragging assembly, a front conveying mechanism, a front swinging driving mechanism and a front lifting transmission mechanism; the front conveying mechanism is installed on the front installation support and comprises a front conveying belt assembly and a front roller shaft assembly, and the front roller shaft assembly is arranged close to the rear lifting swing conveying mechanism and assembled in the width direction of the front installation support.

Description

Technical Field

[0001] This utility model relates to the field of logistics and transportation, specifically to an intelligent loading and unloading device. Background Technology

[0002] During logistics and transportation, to protect the products, they are usually placed in boxes and transported together via freight. Before and after transportation, each box needs to be manually moved onto or unloaded from the truck. Manual loading and unloading is inefficient and inefficient due to high labor costs.

[0003] To address the aforementioned issues, Chinese Patent Application No. 2020107681979 provides an intelligent loading and unloading device, including a base assembly, a cantilever assembly, and a conveying assembly. The base assembly is configured to support the cantilever assembly, which includes a first support assembly and a first conveyor component. The first support assembly is mounted on the base assembly; the first conveyor component is mounted on the first support assembly. The conveying assembly includes a second support assembly, a second conveyor component, and a suction cup assembly. The second support assembly is mounted on the first support assembly, the second conveyor component is mounted on the second support assembly, and the suction cup assembly is rotatably mounted on the second support assembly. The suction cup assembly is configured to suction items onto the second conveyor component. This intelligent loading and unloading device allows the suction cup assembly to pick up packaging boxes, and after picking up the boxes, it drags the boxes backward onto the second conveyor component, which then drags the boxes to the first conveyor component. Furthermore, both the cantilever assembly and the conveying assembly are capable of left-right deflection and up-down rotation to adapt to different loading and unloading needs.

[0004] While the aforementioned intelligent loading and unloading equipment can effectively improve loading and unloading efficiency, its overall structure is relatively complex. In addition, during the transportation of goods, when the goods are transported between the conveying component and the cantilever component, due to the certain gap at the rotating end, the goods are prone to getting stuck between the conveying component and the cantilever component when transporting small-volume goods, which affects the transportation. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the existing technology, the purpose of this utility model is to provide an intelligent loading and unloading device, which solves the problem that the existing intelligent loading and unloading equipment has a complex structure and the container is easy to get stuck between the conveying component and the cantilever component during the loading and unloading process, affecting the conveying.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] An intelligent loading and unloading device includes a traveling support mechanism, a rear lifting and swinging conveying mechanism, and a front cantilever gripping and conveying mechanism. The rear end of the rear lifting and swinging conveying mechanism is mounted on the traveling support mechanism and includes a rear mounting bracket, a rear conveying mechanism, a rear lifting transmission mechanism, and a rear swinging drive mechanism. The rear end of the front cantilever gripping and conveying mechanism is connected to the front end of the rear lifting and swinging conveying mechanism and includes a front mounting bracket, a vacuum suction cup gripping mechanism, a gripping mechanism dragging assembly, a front conveying mechanism, a front swinging drive mechanism, and a front lifting transmission mechanism.

[0008] The rear swing drive mechanism is installed between the rear mounting bracket and the walking support mechanism. Its upper end is rotatably connected to the rear end of the rear mounting bracket, and its lower end is fixedly connected to the walking support mechanism. The rear lifting transmission mechanism is fixedly installed at the output end of the rear swing drive mechanism, and its front end is rotatably connected to the middle of the rear mounting bracket. The rear swing drive mechanism can drive the rear mounting bracket and the rear lifting transmission mechanism to rotate horizontally synchronously, and the rear lifting transmission mechanism can drive the rear mounting bracket to rotate up and down. The front end of the rear mounting bracket is rotatably connected to the rear end of the front mounting bracket through a cantilever shaft.

[0009] The front conveying mechanism is mounted on the front mounting bracket and includes a front conveyor belt assembly and a front roller assembly. The front conveyor belt assembly includes multiple front conveyor belts arranged along the conveying direction. The front roller assembly is located near the rear lifting and swinging conveying mechanism and is assembled along the width direction of the front mounting bracket. The front swinging drive mechanism is located on the lower side of the rear end of the front mounting bracket, and its output end is fixedly connected to the rear end of the front mounting bracket, enabling the front mounting bracket to swing. The front lifting transmission mechanism is mounted on the front end of the rear mounting bracket, and its output end is connected to the front mounting bracket, enabling the front lifting and swinging mechanism to drive the rear lifting and swinging mechanism. The mounting bracket rotates up and down; the vacuum suction cup gripping mechanism is installed at the front end of the front mounting bracket, including multiple vacuum suction cups placed between two adjacent front conveyor belts, a rocker arm linkage bracket installed on the rear side of the vacuum suction cups, and a rocker arm drive mechanism connected to the rocker arm linkage bracket. The front and rear ends of the rocker arm linkage bracket are respectively connected to the vacuum suction cups and the rocker arm drive mechanism; the gripping mechanism dragging assembly is fixed in the middle of the rear mounting bracket, and the output end is connected to the rocker arm drive mechanism or the rocker arm linkage bracket, which can drive the rocker arm drive mechanism and the rocker arm linkage bracket to move backward or forward synchronously. In this way, during unloading, the vacuum suction cup gripping mechanism can vacuum-grab the goods, and by controlling the rotation of the rocker arm linkage bracket, the grasped goods are transferred to the front conveyor mechanism. The front conveyor mechanism then transports the goods to the rear lifting and swinging conveyor mechanism. During the conveying process, because the front roller assembly is located near the rear lifting and swinging conveyor mechanism and is adjacent to the front conveyor assembly, when the front conveyor assembly reaches the front roller assembly, part of the goods is on the front conveyor assembly and is conveyed by it, while the other part is on the front roller assembly. Under the conveying thrust of the front conveyor assembly, the rollers in the front roller assembly rotate, allowing the goods to slide smoothly onto the adjacent rear conveyor mechanism under the action of inertia. The conveying is relatively smooth, and even if there is a large angle between the front mounting bracket and the rear mounting bracket, the goods can be transported smoothly without jamming, effectively ensuring the smooth transport of goods. Meanwhile, the front and rear swing drive mechanisms can drive the front and rear mounting brackets to rotate left and right, respectively, thereby adjusting their horizontal position during rotation. The front and rear lifting transmission mechanisms control the up and down rotation of the front and rear mounting brackets, adjusting their height. This design offers considerable flexibility. The rear swing drive mechanism and rear lifting transmission mechanism in the rear lifting swing conveyor are interconnected, forming a compact overall structure. The front swing drive mechanism and front lifting transmission mechanism are also interconnected, with the front lifting transmission mechanism mounted under the rear mounting bracket, resulting in a compact spatial structure. The rocker arm linkage bracket rotates under the drive mechanism and continues to rotate after the goods are placed on the front conveyor, thus remaining under the front conveyor and avoiding interference with the direction of goods transport, demonstrating a high degree of intelligence.

[0010] Furthermore, a transition roller adjacent to the front roller assembly is installed at the front end of the rear mounting bracket. The installation height of the transition roller is consistent with the conveying height of the rear conveying mechanism. Thus, by also installing a transition roller at the front end of the rear mounting bracket, the conveying length of the rear conveying mechanism can be effectively extended. Combined with the front roller assembly at the front end, this allows for a smooth transition between the front and rear ends.

[0011] Furthermore, the rear swing drive mechanism includes a mounting cylinder, a rear swing drive motor, a rear swing main gear, and a rear swing driven gear. The lower end of the mounting cylinder is fixedly connected to the chassis of the walking support mechanism. The rear swing drive motor is fixedly mounted on the side of the mounting cylinder, and its output shaft is splinedly connected to the rear swing main gear, which meshes with the rear swing driven gear. The rear swing driven gear is sleeved on the upper end of the mounting cylinder, and a flange is fixedly connected to it. A mounting plate is located on the side of the flange facing the rear lifting transmission mechanism, and the rear end of the rear lifting transmission mechanism is fixedly connected to the mounting plate. In this way, the rear swing drive mechanism drives the rear lifting transmission mechanism and the rear mounting bracket to rotate synchronously through the rotation of the drive gear mechanism. This method of controlling the left and right swing of the cantilever via gear transmission provides more precise angle control and a stable structure. The mounting cylinder can be used to assemble the driven gear and also provides sufficient support for the rear mounting bracket, the rear swing drive motor, and the rear lifting transmission mechanism, transmitting the pressure of these components to the walking support mechanism and then to the ground, providing excellent support. The flange located above the mounting cylinder is fixedly connected to the rear swing driven gear, which can transmit its rotational force to the rear lifting transmission mechanism and then to the rear mounting bracket, so that the rear lifting transmission mechanism and the rear mounting bracket rotate synchronously.

[0012] Furthermore, two mounting seats are spaced apart at the upper end of the flange. The rear end of the rear mounting bracket is rotatably connected to the mounting seats via a pivot. A connecting lug is detachably installed in the middle of the rear mounting bracket. The rear lifting transmission mechanism includes an electric telescopic push rod. The rear end of the electric telescopic push rod is rotatably connected to the mounting plate via a lug. The end of the telescopic push rod is rotatably connected to the connecting lug via a pivot. In this way, the rear mounting bracket achieves a rotatable connection with the flange through the cooperation of the connecting lug and the mounting seats. Thus, after the electric telescopic push rod is activated, it can rotate up and down under the extension and retraction of the push rod without interfering with the rear swing mechanism, resulting in a compact structure.

[0013] Furthermore, a counterweight assembly is installed on both the left and right sides of the rear mounting bracket. Each counterweight assembly includes two counterweight blocks, two transverse support rods, and two pulleys. The transverse support rods are installed in the middle of the left and right sides of the rear mounting bracket, with two uprights fixedly mounted on the flange. The pulleys are mounted on the upper ends of the uprights via a shaft. Each counterweight block is equipped with a steel cable fixedly connected to it. The steel cable passes over the pulley on the same side and is fixedly connected to the end of the transverse support rod. Thus, with the counterweight assembly installed, the counterweight blocks slide up or down as the rear mounting bracket rotates, effectively reducing the power required for the electric telescopic push rod. Using a reduced-power electric telescopic push rod can achieve the up-and-down swing of the rear mounting bracket, effectively saving costs.

[0014] Furthermore, the front swing drive mechanism includes a front swing drive motor, a support base, a bearing housing, and a frame connecting plate. The frame connecting plate is fixedly connected to the bottom of the front mounting bracket. The output shaft of the front swing drive motor is fixedly connected to the frame connecting plate via a connector. The support base is located between the bearing housing and the front swing drive motor, with its upper and lower ends fixedly connected to the bearing housing and the front swing drive motor, respectively. Both the bearing housing and the support base are fitted onto the output shaft of the front swing drive motor. The end of the bearing housing facing the rear mounting bracket has two pivot lugs that fit onto the cantilever shaft and are keyed to it. At the front end of the rear mounting bracket are two cantilever supports that mate with the pivot lugs. The cantilever supports are fitted onto the cantilever shaft via bearings. Thus, when the front swing drive motor starts, the output shaft rotates, transmitting the rotational force to the frame connecting plate, which in turn drives the front mounting bracket, fixedly connected to the frame connecting plate, to rotate, achieving left and right rotation. The bearing housing mounted on the front swing drive motor remains stationary after the output shaft rotates, thus keeping the cantilever shaft connected to the bearing housing stationary as well. The support base transmits power to the bearing housing and suspends the front swing drive motor under the front mounting bracket. The rear mounting bracket is rotatably connected to the cantilever shaft via a cantilever support, while the front mounting bracket is fixedly connected to the cantilever shaft via a shaft lug on the bearing housing. Therefore, when the cantilever shaft rotates, the front mounting bracket rotates accordingly without affecting the rear mounting bracket; that is, the front and rear mounting brackets do not interfere with each other when rotating up and down. Placing the front swing drive motor near the rotatable connection between the front and rear mounting brackets ensures that it does not interfere with the gripping and dragging components on the front mounting bracket during rotation, and requires less power.

[0015] Furthermore, the front lifting transmission mechanism includes a front lifting electric push rod. The rear end of the front lifting electric push rod is rotatably mounted below the front end of the rear mounting bracket. The telescopic end of the front telescopic rod is located below the cantilever shaft and is rotatably connected to the cantilever shaft via a rotating arm. The rotating arm is sleeved in the middle of the cantilever shaft and is keyed to the cantilever shaft. In this way, the front lifting electric push rod is mounted on the rear mounting bracket, which is close to the front mounting bracket, effectively shortening the pushing length of the electric push rod, and can also realize the lifting and lowering of the front mounting bracket. After the telescopic rod extends and retracts, it pushes the rotating arm connected to it to rotate, thereby driving the cantilever shaft connected to the rotating arm to rotate. When the cantilever shaft rotates, the bearing seat sleeved on it and keyed to it will rotate up and down. The upper end of the bearing seat is fixedly connected to the front swing drive motor, and the output shaft of the front swing drive motor is fixedly connected to the front mounting bracket. Therefore, after the cantilever shaft rotates around its axis, it can drive the front mounting bracket to rotate up and down together.

[0016] Furthermore, the rocker arm drive mechanism includes a servo electric push rod and a connector fixed to the output end of the servo electric push rod; the rocker arm linkage bracket includes a movable base plate, a sliding guide rail seat, a sliding guide rail, a rocker arm front seat, a rocker arm rear seat, a rocker arm support rod assembly, and a suction cup mounting base. The movable base plate is shaped like a "mountain" and consists of a front seat fixing plate, two sliding rail fixing side plates, and a central connecting plate. The sliding rail fixing side plates and the central connecting plate are both oriented towards the gripping mechanism dragging assembly. Two sliding guide rails are provided, respectively mounted on the two sliding rail fixing side plates. The sliding guide rail seat is parallel to the front seat fixing plate, and sliders that cooperate with the sliding guide rails are fixedly installed on the lower sides of both ends. The connecting parts of the rocker arm and the servo electric push rod end are fixedly connected; multiple rocker arm front seats and rocker arm rear seats are provided, respectively fixedly installed on the front seat fixing plate and the sliding guide rail seat, and the rocker arm front seats and rocker arm rear seats are arranged one-to-one; the rocker arm support rod assembly corresponds one-to-one with the suction cup mounting seat, and each rocker arm support rod assembly includes multiple rocker arm support rods. The rocker arm support rods are placed between the corresponding rocker arm front seats and suction cup mounting seats, and the upper and lower ends are rotatably connected to the rocker arm front seats and suction cup mounting seats respectively through shafts; each rocker arm support rod assembly and its corresponding rocker arm rear seat are connected by a linkage rod, and the two ends of the linkage rod are rotatably connected to the rocker arm support rods and rocker arm rear seats of the rocker arm support rod assembly respectively. In this way, the sliding guide seat installed on the movable base plate can move back and forth along the guide rail. Simultaneously, the sliding guide seat is connected to the rocker arm support assembly and the servo electric push rod. When the push rod of the servo electric push rod extends, it drives the sliding guide seat forward, thereby pushing the connected rocker arm support assembly to rotate forward, which in turn drives the vacuum suction cup forward to pick up the goods. When the sliding guide seat is pulled backward by the servo electric push rod, the connected rocker arm support rod rotates backward. When pulled to a vertical position, the suction cup mounting base is in a horizontal position, and its height changes accordingly, allowing the goods to be lifted and positioned above the front conveyor surface of the front conveyor mechanism without interfering with it. The cooperation between the sliding guide seat and the guide rail makes the entire rocker arm drive mechanism move more smoothly. Furthermore, the sliding distance of the sliding guide seat can be controlled according to the length of the guide rail and the servo electric push rod, thereby controlling the rotation angle of the rocker arm support rod.

[0017] Furthermore, the gripping mechanism towing assembly includes a towing motor, a drive screw, a sliding nut, a nut mounting base, and a connecting rod. The output end of the towing motor is connected to a gear transmission mechanism, and the rear end of the drive screw is fixedly connected to the gear transmission mechanism. The sliding nut is fitted onto the drive screw and threadedly engages with it. The sliding nut is fixedly mounted on the nut mounting base, which is fixedly connected to the central connecting plate via the connecting rod. Thus, after the gripping mechanism towing assembly engages with the screw and nut, the nut slides, driving the connected connecting rod to move, thereby dragging the movable base plate fixedly connected to the connecting rod to move together. The connection structure is compact, and the movement after the screw and nut engage provides structural stability and easy control of the moving distance.

[0018] Furthermore, the walking support mechanism is a tracked walking support mechanism. A tail-end conveying mechanism is also connected to the rear end of the rear lifting and swinging conveyor mechanism. The tail-end conveying mechanism includes a support frame, a tail-end conveying mounting frame, and the tail-end conveying mechanism itself. The front end of the support frame is fixed to the base plate of the walking support mechanism, and the rear end is equipped with casters. The tail-end conveying mounting frame is fixed to the upper end of the support frame, and the tail-end conveying mechanism is mounted on the tail-end conveying mounting frame. Thus, by using a tracked walking support mechanism, it can adapt to different road conditions. The tail-end conveying mechanism added at the rear end of the rear lifting and swinging conveyor mechanism can move together with the walking support mechanism, and can also output goods downwards to the final position.

[0019] Furthermore, the front mounting bracket includes a front conveyor belt mounting seat and a transfer conveyor mounting plate. The left, right, and rear sides of the front conveyor belt mounting seat are all bent upwards, with the longitudinal height of the bends gradually decreasing from back to front. The transfer conveyor mounting plate is fixedly mounted on the upper ends of the bent plates on the left and right sides of the front conveyor belt mounting seat and is used to mount the front roller assembly. The front swing drive mechanism is mounted on the lower end of the transfer conveyor mounting plate. Thus, the front mounting bracket is mainly composed of two fixedly connected parts: one part is mainly used to mount the front conveyor mechanism, and the other part is mainly used to mount the front roller assembly. Compared to the traditional method of transporting goods entirely using conveyor belts, the method of transporting goods using a combination of conveyor belts and rollers provides a smoother transport. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the intelligent loading and unloading device in the embodiment when it grabs goods;

[0021] Figure 2 This is a schematic diagram of the rear structure of the front cantilever gripping and conveying mechanism after the front mounting bracket is hidden in the embodiment.

[0022] Figure 3 This is a schematic diagram of the installation structure of the vacuum suction cup gripping mechanism and the gripping mechanism dragging assembly in the embodiment;

[0023] Figure 4 This is a three-dimensional structural diagram of the vacuum suction cup gripping mechanism in the embodiment;

[0024] Figure 5 This is a schematic diagram of the installation structure of the front swing drive mechanism and the front lifting transmission mechanism in the embodiment;

[0025] Figure 6 This is a schematic diagram of the installation structure of the rear lifting transmission mechanism and the rear swing drive mechanism in the embodiment. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, the terms "horizontal," "vertical," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] like Figures 1-6 As shown, an intelligent loading and unloading device includes a traveling support mechanism 3, a rear lifting and swinging conveying mechanism 2, and a front cantilever gripping and conveying mechanism 1. The rear end of the rear lifting and swinging conveying mechanism 2 is mounted on the traveling support mechanism 3 and includes a rear mounting bracket 21, a rear conveying mechanism 22, a rear lifting transmission mechanism 9, and a rear swinging drive mechanism 8. The rear end of the front cantilever gripping and conveying mechanism 1 is connected to the front end of the rear lifting and swinging conveying mechanism 2 and includes a front mounting bracket 11, a vacuum suction cup gripping mechanism 4, a gripping mechanism dragging assembly 5, a front conveying mechanism 12, a front swinging drive mechanism 6, and a front lifting transmission mechanism 7.

[0029] The rear swing drive mechanism 8 is installed between the rear mounting bracket 21 and the walking support mechanism 3. Its upper end is rotatably connected to the rear end of the rear mounting bracket 21, and its lower end is fixedly connected to the walking support mechanism 3. The rear lifting transmission mechanism 9 is fixedly installed at the output end of the rear swing drive mechanism 8, and its front end is rotatably connected to the middle of the rear mounting bracket 21. The rear swing drive mechanism 8 can drive the rear mounting bracket 21 and the rear lifting transmission mechanism 9 to rotate horizontally (i.e., swing left and right) synchronously. The rear lifting transmission mechanism 9 can drive the rear mounting bracket 21 to rotate up and down. The front end of the rear mounting bracket 21 is rotatably connected to the rear end of the front mounting bracket 11 through a cantilever shaft 65.

[0030] The front conveying mechanism 12 is mounted on the front mounting bracket 11 and includes a front conveyor belt assembly 121 and a front roller assembly 122. The front conveyor belt assembly includes multiple front conveyor belts arranged along the conveying direction. The front roller assembly 122 is located near the rear lifting swing conveying mechanism 2 and is assembled along the width direction of the front mounting bracket 11. The front swing drive mechanism 6 is located on the lower side of the rear end of the front mounting bracket 11, and its output end is fixedly connected to the rear end of the front mounting bracket 11, enabling the front mounting bracket 11 to swing. The front lifting transmission mechanism 7 is mounted on the front end of the rear mounting bracket 21, and its output end is connected to the front mounting bracket 11, enabling it to drive... The front mounting bracket 11 rotates up and down; the vacuum suction cup gripping mechanism 4 is installed at the front end of the front mounting bracket 11, including multiple vacuum suction cups 41 placed between two adjacent front conveyor belts, a rocker arm linkage bracket 44 installed on the rear side of the vacuum suction cups, and a rocker arm drive mechanism connected to the rocker arm linkage bracket. The front and rear ends of the rocker arm linkage bracket 44 are respectively connected to each vacuum suction cup 41 and the rocker arm drive mechanism; the gripping mechanism dragging assembly 5 is fixed in the middle of the rear mounting bracket 21, and its output end is connected to the rocker arm drive mechanism or the rocker arm linkage bracket 44, which can drive the rocker arm drive mechanism and the rocker arm linkage bracket 44 to move backward or forward synchronously.

[0031] The walking support mechanism 3 is a tracked walking support mechanism 3. A tail end conveying mechanism 10 is also connected to the rear end of the rear lifting swing conveying mechanism 2. The tail end conveying mechanism 10 includes a support frame, a tail end conveying mounting frame and a tail end conveying mechanism 10. The front end of the support frame is fixed to the base plate of the walking support mechanism 3, and the rear end is equipped with casters. The tail end conveying mounting frame is fixed to the upper end of the support frame, and the tail end conveying mechanism 10 is installed on the tail end conveying mounting frame.

[0032] When unloading, the loading and unloading device in this embodiment can vacuum-pick up the goods by the vacuum suction cup gripping mechanism 4, and transfer the picked-up goods to the front conveying mechanism 12 by controlling the rotation of the rocker arm connecting rod bracket 44. The front conveying mechanism 12 then transports the goods to the rear lifting swing conveying mechanism 2. When loading, the rear conveying mechanism 22 transports the goods to the front conveying mechanism 12. Finally, the vacuum suction cup gripping mechanism 4 picks up the goods and loads them to the designated location. During the conveying process, since a front roller assembly 122 is located near the rear lifting and swinging conveying mechanism 2, and the front roller assembly 122 is adjacent to the front conveying assembly, when the front conveying assembly delivers the goods to the front roller assembly 122, part of the goods are on the front conveying assembly and are conveyed by the front conveying assembly, while the other part is on the front roller assembly 122. Under the conveying thrust of the front conveying assembly, the rollers in the front roller assembly 122 rotate, allowing the goods to slide smoothly onto the adjacent rear conveying mechanism 22 under the action of inertia. The conveying is relatively smooth, and even if there is a large angle between the front mounting bracket 11 and the rear mounting bracket 21, the goods can be conveyed smoothly without jamming, effectively ensuring the smooth conveying of the goods. Meanwhile, the front swing drive mechanism 6 and the rear swing drive mechanism 8 can drive the front mounting bracket 11 and the rear mounting bracket 21 to rotate left and right, respectively, thereby adjusting the horizontal position during rotation. The front lifting transmission mechanism 7 and the rear lifting transmission mechanism 9 can control the up and down rotation of the front mounting bracket 11 and the rear mounting bracket 21, thereby adjusting their height, making them highly flexible in use. The rear swing drive mechanism 8 and the rear lifting transmission mechanism 9 in the rear lifting swing conveying mechanism 2 are interconnected and have a compact overall structure. The front swing drive mechanism 6 and the front lifting transmission mechanism 7 are also interconnected, and the front lifting transmission mechanism 7 is installed under the rear mounting bracket 21, resulting in a compact spatial structure. The rocker arm linkage bracket 44 can rotate under the drive mechanism and continues to rotate after the goods are placed on the front conveying mechanism 12, thus remaining under the front conveying mechanism 12 and not interfering with the direction of goods transport, demonstrating a high degree of intelligence.

[0033] During unloading, after the vacuum suction cup 41 picks up the goods, the rocker arm drive mechanism is activated, driving the rocker arm linkage bracket 44 to rotate towards the rear conveying mechanism 22, causing the vacuum suction cup 41 to rotate synchronously, moving the goods backward until the bottom of the goods is placed on the conveyor belt of the front conveying mechanism. Then, the vacuum suction cup 41 separates from the goods. At the same time, the gripping mechanism dragging component 5 is controlled to move the vacuum suction cup gripping mechanism backward until the vacuum suction cup 41 is placed under the conveying surface of the front conveying mechanism. The front conveying mechanism 12 then conveys the goods to the front roller assembly 122, and the roller assembly conveys the goods to the rear conveying mechanism 22. At this time, the gripping mechanism dragging component 5 is controlled to move forward to the initial position, and then the rocker arm linkage bracket 44 is controlled to rotate forward to pick up the goods again. During loading, the rear conveyor mechanism 22 conveys the goods to the front conveyor mechanism 12. When the carton goods are transported to the front end of the front conveyor mechanism 12, the gripping mechanism dragging assembly 5 pushes the vacuum suction cup gripping mechanism 4 to move backward to the goods of the front conveyor mechanism, drives the rocker arm linkage bracket 44 of the vacuum suction cup gripping mechanism 4 to rotate backward until the vacuum suction cup comes into contact with the goods, the vacuum suction cup 41 picks up the goods, and then drives the rocker arm linkage bracket 44 to rotate forward, and the gripping mechanism dragging assembly 5 pushes forward to place it in the designated position.

[0034] Furthermore, a rear roller assembly 222 is installed at the rear end of the rear mounting bracket 21. The rear roller assembly 222 includes multiple rear rollers arranged along the width direction of the rear mounting bracket 21. A transition roller is installed at both the front end of the rear mounting bracket 21 and the front end of the tail conveyor mounting frame. The installation height of the transition roller on the rear mounting bracket 21 is consistent with the conveying height of the rear conveying mechanism 22. The transition roller on the tail conveyor mounting frame is adjacent to the rear roller assembly at the tail end of the rear mounting bracket 21. In this way, by also providing a transition roller at the front end of the rear mounting bracket 21, the conveying length of the rear conveying mechanism 22 can be effectively extended. This, combined with the front roller assembly 122 at the front end, allows for a smooth transition between the front and rear ends.

[0035] Furthermore, the rear swing drive mechanism 8 includes a mounting cylinder 81, a rear swing drive motor 82, a rear swing main gear 83, and a rear swing driven gear 84. The lower end of the mounting cylinder 81 is fixedly connected to the chassis of the walking support mechanism 3. The rear swing drive motor 82 is fixedly mounted on the side of the mounting cylinder 81, and the output shaft of the rear swing drive motor 82 is splinedly connected to the rear swing main gear 83. The rear swing main gear 83 meshes with the rear swing driven gear 84. The rear swing driven gear 84 is sleeved on the upper end of the mounting cylinder 81, and a flange 85 is fixedly connected to the rear swing driven gear 84. A mounting plate 86 is provided on the side of the flange 85 facing the rear lifting transmission mechanism 9, and the rear end of the rear lifting transmission mechanism 9 is fixedly connected to the mounting plate 86. In this way, the rear swing drive mechanism 8 drives the rear lifting transmission mechanism 9 and the rear mounting bracket 21 to rotate synchronously by rotating the drive gear mechanism. This method of controlling the left and right swing of the cantilever through gear transmission provides more precise control of the rotation angle and a stable structure. The mounting cylinder 81 is designed to assemble the driven gear and provides sufficient support for the rear mounting bracket 21, the rear swing drive motor 82, and the rear lifting transmission mechanism 9. It transmits the pressure of these components to the walking support mechanism 3, and then to the ground, providing excellent support. The flange 85 located above the mounting cylinder 81 is fixedly connected to the rear swing driven gear 84, allowing its rotational force to be transmitted to the rear lifting transmission mechanism 9, and then further to the rear mounting bracket 21, enabling the rear lifting transmission mechanism 9 and the rear mounting bracket 21 to rotate synchronously.

[0036] Furthermore, two mounting seats are spaced apart at the upper end of the flange 85. The rear end of the rear mounting bracket 21 is rotatably connected to the mounting seats via a pivot. A connecting lug 23 is detachably installed on the lower end face of the middle part of the rear mounting bracket 21. The rear lifting transmission mechanism 9 includes an electric telescopic push rod 91. The rear end of the electric telescopic push rod 91 is rotatably connected to the mounting plate 86 via a lug. The end of the telescopic rod of the electric telescopic push rod 91 is rotatably connected to the connecting lug 23 via a pivot. In this way, the rear mounting bracket 21 achieves a rotatable connection with the flange 85 through the cooperation of the connecting lug and the mounting seat. Thus, after the electric telescopic push rod 91 is activated, it can rotate up and down under the extension and retraction of the push rod without interfering with the rear swing mechanism, resulting in a compact structure.

[0037] Furthermore, a counterweight assembly is installed on both the left and right sides of the rear mounting bracket 21. The counterweight assembly includes two counterweight blocks 92, two transverse support rods 94, and two pulleys 93. The transverse support rods 94 are installed in the middle of the left and right sides of the rear mounting bracket 21, and two columns are fixedly installed on the flange 85. The pulleys 93 are mounted on the upper end of the columns via a shaft. Each counterweight block 92 is equipped with a steel cable 95 fixedly connected to it. The steel cable 95 passes over the pulley 93 on the same side and is fixedly connected to the end of the transverse support rod 94. Thus, with the counterweight assembly installed, the counterweight blocks 92 slide up or down as the rear mounting bracket 21 rotates up and down, effectively reducing the power required by the electric telescopic push rod 91. Using a reduced-power electric telescopic push rod 91 can achieve the up-and-down swing of the rear mounting bracket 21, effectively saving costs.

[0038] Furthermore, the front swing drive mechanism 6 includes a front swing drive motor 61, a support seat 62, a bearing seat 63, and a frame connecting plate 64. The frame connecting plate 64 is fixedly connected to the bottom of the front mounting bracket 11. The output shaft of the front swing drive motor 61 is fixedly connected to the frame connecting plate 64 through a connector 43. The support seat 62 is located between the bearing seat 63 and the front swing drive motor 61, and its upper and lower ends are fixedly connected to the bearing seat 63 and the front swing drive motor 61, respectively. Both the bearing seat 63 and the support seat 62 are sleeved on the output shaft of the front swing drive motor 61. The bearing seat 63 has two pivot lugs 631 at one end facing the rear mounting bracket 21, which are sleeved on the cantilever pivot 65 and keyed to the cantilever pivot 65. At the front end of the rear mounting bracket 21, there are two cantilever supports 24 that cooperate with the pivot lugs 631. The cantilever supports 24 are sleeved on the cantilever pivot 65 through bearings. In this way, after the front swing drive motor starts, the output shaft rotates and transmits the rotational force to the frame connecting plate 64, which is fixedly connected to it. This, in turn, drives the front mounting bracket, which is fixedly connected to the frame connecting plate 64, to rotate, thus achieving left and right rotation. The bearing seat 63 provided on the front swing drive motor can remain stationary after the output shaft rotates, thereby keeping the cantilever shaft 65 connected to the bearing seat 63 stationary as well. The support base can transmit power to the bearing seat 63 and suspend the front swing drive motor 61 under the front mounting bracket 11. The rear mounting bracket 21 is rotatably connected to the cantilever shaft 65 through the cantilever support 24. The front mounting bracket 11 is fixedly connected to the cantilever shaft 65 through the shaft lug 631 on the bearing seat 63. Thus, when the cantilever shaft 65 rotates, the front mounting bracket 11 will rotate accordingly, but it will not affect the rear mounting bracket 21. That is, when the mounting bracket and the rear mounting bracket 21 rotate up and down, they do not affect each other. The front swing drive motor is placed next to the rotating connection end between the front mounting bracket 11 and the rear mounting bracket 21. When rotating, it will not interfere with the gripping mechanism dragging component 5 on the front mounting bracket 11, and requires less power.

[0039] Furthermore, the front lifting transmission mechanism 7 includes a front lifting electric push rod 71. The rear end of the front lifting electric push rod 71 is rotatably mounted below the front end of the rear mounting bracket 21. The telescopic end of the front end is located under the cantilever shaft 65 and is rotatably connected to the cantilever shaft 65 through a rotating arm 72. The rotating arm 72 is sleeved in the middle of the cantilever shaft 65 and is keyed to the cantilever shaft 65. In this way, the front lifting electric push rod 71 is installed on the rear mounting bracket 21, which is close to the front mounting bracket 11, effectively shortening the pushing length of the electric push rod, and can also push and lower the front mounting bracket 11. After the telescopic rod extends and retracts, it pushes the rotating arm 72 connected to it to rotate, which in turn drives the cantilever shaft 65 connected to the rotating arm 72 to rotate. When the cantilever shaft 65 rotates, the bearing seat 63 sleeved on it and connected to it by a key will rotate up and down. The upper end of the bearing seat 63 is fixedly connected to the front swing drive motor, and the output shaft of the front swing drive motor is fixedly connected to the front mounting bracket 11. Therefore, after the cantilever shaft 65 rotates around its axis, it can drive the front mounting bracket 11 to rotate up and down together.

[0040] Furthermore, the rocker arm drive mechanism includes a servo electric push rod 42 and a connector 43 fixed to the output end of the servo electric push rod 42; the rocker arm linkage bracket 44 includes a movable base plate 441, a sliding guide rail seat 442, a sliding guide rail 443, a rocker arm front seat 445, a rocker arm rear seat 444, a rocker arm support rod assembly 446, and a suction cup mounting seat 447. The movable base plate 441 is in the shape of a "mountain" and consists of a front seat fixing plate, two sliding rail fixing side plates, and a central connecting plate 441a. The sliding rail fixing side plates and the central connecting plate 441a are both positioned facing the gripping mechanism dragging assembly 5; there are two sliding guide rails 443, which are respectively installed on the two sliding rail fixing side plates. The sliding guide rail seat 442 is parallel to the front seat fixing plate, and sliders that cooperate with the sliding guide rails 443 are fixedly installed on the lower sides of both ends. The middle part is connected to the servo electric push rod 42. The end connector 43 is fixedly connected; multiple rocker arm front seats 445 and rocker arm rear seats 444 are provided, respectively fixedly installed on the front seat fixing plate and the sliding guide rail seat 442, and the rocker arm front seats 445 and rocker arm rear seats 444 are arranged one-to-one; the rocker arm support rod assembly 446 corresponds one-to-one with the suction cup mounting seat 447, each rocker arm support rod assembly 446 includes four rocker arm support rods distributed in a rectangle, the rocker arm support rods are placed between the corresponding rocker arm front seat 445 and the suction cup mounting seat 447, and the upper and lower ends are rotatably connected to the rocker arm front seat 445 and the suction cup mounting seat 447 respectively through shafts; the two rocker arm support rods on the rear side of each rocker arm support rod assembly 446 and the corresponding rocker arm rear seat 444 are connected by a linkage rod, and the two ends of the linkage rod are rotatably connected to the rocker arm support rods of the rocker arm support rod assembly 446 and the rocker arm rear seat 444 respectively. In this way, the sliding guide rail seat 442 installed on the movable base plate 441 can move back and forth along the guide rail. At the same time, the sliding guide rail seat 442 is also connected to the rocker arm support assembly 446 and the servo electric push rod 42. When the push rod of the servo electric push rod 42 extends, it will drive the sliding guide rail seat 442 to move forward, thereby pushing the rocker arm support assembly 446 connected to it to rotate forward, and then driving the vacuum suction cup 41 to move forward, so that the vacuum suction cup 41 can pick up the goods. When the sliding guide rail seat 442 is pulled backward by the servo electric push rod 42, the rocker arm support connected to it will rotate backward. When pulled to a vertical state, the suction cup mounting seat 447 will be in a horizontal state, and the height will also change accordingly, so that the goods are lifted and placed above the front conveying surface of the front conveying mechanism 12, without interfering with the front conveying mechanism 12. The sliding guide seat 442 and the slide rail are matched to make the entire rocker arm drive mechanism move more smoothly. At the same time, the sliding distance of the sliding guide seat 442 can be controlled according to the length of the slide rail and the servo electric push rod 42, thereby controlling the rotation angle of the rocker arm support.

[0041] Furthermore, the gripping mechanism dragging assembly 5 includes a dragging motor 51, a drive screw 53, a sliding nut 54, a nut mounting base 55, and a connecting rod 56. The output end of the dragging motor 51 is connected to a gear transmission mechanism 52. The rear end of the drive screw 53 is fixedly connected to the gear transmission mechanism 52. The sliding nut 54 is fitted onto the drive screw 53 and threadedly engaged with it. The sliding nut 54 is fixedly mounted on the nut mounting base 55, which is fixedly connected to the central connecting plate 441a via the connecting rod 56. Thus, after the gripping mechanism dragging assembly 5 engages with the screw and nut, the nut slides, driving the connecting rod 56 to move, thereby dragging the movable base plate 441, which is fixedly connected to the connecting rod 56, to move together. The connection structure is compact, and the movement after the screw and nut engage provides structural stability and easy control of the movement distance.

[0042] Furthermore, the front mounting bracket 11 includes a front conveyor belt mounting seat and a transfer conveyor mounting plate, and the rear mounting bracket 21 includes a rear conveyor belt mounting seat and a rear roller mounting plate. The left and right sides and the rear side of the front conveyor belt mounting seat are all bent upwards, and the longitudinal height of the bends gradually decreases from back to front. The transfer conveyor mounting plate is fixedly installed on the upper end of the bent plates on the left and right sides of the front conveyor belt mounting seat for mounting the front roller assembly 122. The front swing drive mechanism 6 is installed at the lower end of the transfer conveyor mounting plate. Thus, the front mounting bracket is mainly composed of two fixedly connected parts: one part is mainly used to mount the front conveyor mechanism 12, and the other part is mainly used to mount the front roller assembly 122. Compared to the traditional method of transporting goods entirely using conveyor belts, the method of transporting goods using a combination of conveyor belts and rollers provides a smoother transport.

[0043] Specifically, in this embodiment, the front conveyor mechanism 12, the rear conveyor mechanism 22, and the tail conveyor mechanism 10 are all belt conveyor mechanisms. A carriage 31 is also provided on the traveling support mechanism 3, with a control room located at the front end of the carriage. A lidar and industrial cameras connected to a controller in the control room are installed on the carriage. Multiple industrial cameras are provided, facing the front and rear ends respectively, for real-time recording of the cargo transportation process and transmitting the data to the control room.

[0044] The front conveying mechanism 12 includes multiple front conveyor belts arranged along the transport direction (i.e., the length direction of the front mounting bracket 11), and the suction cup mounting seat 447 is located at the front end between adjacent front conveyor belts. A row of conveyor belt drive mechanism mounting seats is provided at both the front and rear ends of the front mounting bracket 11, along the width direction of the front mounting bracket 11. A stop bar is provided on both sides of the front mounting bracket 11, the rear mounting bracket 21, and the tail conveyor mounting bracket, extending along its length. The front end of the stop bar is inclined outwards, forming a trumpet-shaped guide opening at its front end.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of this utility model that do not depart from the spirit and scope of this technical solution should be covered within the scope of the claims of this utility model.

Claims

1. An intelligent loading and unloading device, comprising a traveling support mechanism, a rear lifting and swinging conveying mechanism, and a front cantilever gripping and conveying mechanism, wherein the rear end of the rear lifting and swinging conveying mechanism is mounted on the traveling support mechanism, and includes a rear mounting bracket, a rear conveying mechanism, a rear lifting transmission mechanism, and a rear swinging drive mechanism; the rear end of the front cantilever gripping and conveying mechanism is connected to the front end of the rear lifting and swinging conveying mechanism, and includes a front mounting bracket, a vacuum suction cup gripping mechanism, a gripping mechanism dragging assembly, a front conveying mechanism, a front swinging drive mechanism, and a front lifting transmission mechanism; characterized in that, The rear swing drive mechanism is installed between the rear mounting bracket and the walking support mechanism. Its upper end is rotatably connected to the rear end of the rear mounting bracket, and its lower end is fixedly connected to the walking support mechanism. The rear lifting transmission mechanism is fixedly installed at the output end of the rear swing drive mechanism, and its front end is rotatably connected to the middle of the rear mounting bracket. The rear swing drive mechanism can drive the rear mounting bracket and the rear lifting transmission mechanism to rotate horizontally synchronously, and the rear lifting transmission mechanism can drive the rear mounting bracket to rotate up and down. The front end of the rear mounting bracket is rotatably connected to the rear end of the front mounting bracket through a cantilever shaft. The front conveying mechanism is mounted on the front mounting bracket and includes a front conveyor belt assembly and a front roller assembly. The front conveyor belt assembly includes multiple front conveyor belts arranged along the conveying direction. The front roller assembly is located near the rear lifting and swinging conveying mechanism and is assembled along the width direction of the front mounting bracket. The front swinging drive mechanism is located on the lower side of the rear end of the front mounting bracket, and its output end is fixedly connected to the rear end of the front mounting bracket, enabling the front mounting bracket to swing. The front lifting transmission mechanism is mounted on the front end of the rear mounting bracket, and its output end is connected to the front mounting bracket, enabling the front mounting bracket to rotate up and down. The vacuum... The suction cup gripping mechanism is installed at the front end of the front mounting bracket and includes multiple vacuum suction cups placed between two adjacent front conveyor belts, a rocker arm linkage bracket installed on the rear side of the vacuum suction cups, and a rocker arm drive mechanism connected to the rocker arm linkage bracket. The front and rear ends of the rocker arm linkage bracket are respectively connected to the vacuum suction cups and the rocker arm drive mechanism. The rocker arm drive mechanism can drive the rocker arm linkage bracket to rotate up and down. The gripping mechanism dragging assembly is fixed in the middle of the rear mounting bracket, and its output end is connected to the rocker arm drive mechanism or the rocker arm linkage bracket, which can drive the rocker arm drive mechanism and the rocker arm linkage bracket to move backward or forward synchronously.

2. The intelligent loading and unloading device according to claim 1, characterized in that, A transition roller is also installed at the front end of the rear mounting bracket, adjacent to the front roller assembly. The installation height of the transition roller is consistent with the conveying height of the rear conveying mechanism.

3. The intelligent loading and unloading device according to claim 1 or 2, characterized in that, The rear swing drive mechanism includes a mounting cylinder, a rear swing drive motor, a rear swing main gear, and a rear swing driven gear. The lower end of the mounting cylinder is fixedly connected to the chassis of the walking support mechanism. The rear swing drive motor is fixedly mounted on the side of the mounting cylinder. The output shaft of the rear swing drive motor is splinedly connected to the rear swing main gear, and the rear swing main gear meshes with the rear swing driven gear. The rear swing driven gear is sleeved on the upper end of the mounting cylinder. A flange is fixedly connected to the rear swing driven gear. A mounting plate is provided on the side of the flange facing the rear lifting transmission mechanism. The rear end of the rear lifting transmission mechanism is fixedly connected to the mounting plate.

4. The intelligent loading and unloading device according to claim 3, characterized in that, Two mounting seats are spaced apart at the upper end of the flange. The rear end of the rear mounting bracket is rotatably connected to the mounting seat via a rotating shaft. A connecting lug is detachably installed in the middle of the rear mounting bracket. The rear lifting transmission mechanism includes an electric telescopic push rod. The rear end of the electric telescopic push rod is rotatably connected to the mounting plate via a lug. The telescopic rod end of the electric telescopic push rod is rotatably connected to the connecting lug via a rotating shaft.

5. The intelligent loading and unloading device according to claim 4, characterized in that, A counterweight assembly is installed on both the left and right sides of the rear mounting bracket. The counterweight assembly includes two counterweight blocks, two transverse support rods, and two pulleys. The transverse support rods are installed in the middle of the left and right sides of the rear mounting bracket. Two columns are fixedly installed on the flange. The pulleys are installed on the upper end of the columns through a shaft. Each counterweight block is provided with a steel cable fixedly connected to it. The steel cable passes around the pulley on the same side and is fixedly connected to the end of the transverse support rod.

6. The intelligent loading and unloading device according to claim 2, 4, or 5, characterized in that, The front swing drive mechanism includes a front swing drive motor, a support seat, a bearing seat, and a frame connecting plate. The frame connecting plate is fixedly connected to the bottom of the front mounting bracket. The output shaft of the front swing drive motor is fixedly connected to the frame connecting plate through a connector. The support seat is located between the bearing seat and the front swing drive motor, and its upper and lower ends are fixedly connected to the bearing seat and the front swing drive motor, respectively. Both the bearing seat and the support seat are sleeved on the output shaft of the front swing drive motor. The bearing seat has two shaft lugs on one end facing the rear mounting bracket, which are sleeved on the cantilever shaft and keyed to the cantilever shaft. Two cantilever supports that cooperate with the shaft lugs are provided at the front end of the rear mounting bracket. The cantilever supports are sleeved on the cantilever shaft through bearings.

7. The intelligent loading and unloading device according to claim 6, characterized in that, The front lifting transmission mechanism includes a front lifting electric push rod. The rear end of the front lifting electric push rod is rotatably mounted below the front end of the rear mounting bracket. The telescopic end of the front telescopic rod is located under the cantilever shaft and is rotatably connected to the cantilever shaft through a rotating arm. The rotating arm is sleeved in the middle of the cantilever shaft and is keyed to the cantilever shaft.

8. The intelligent loading and unloading device according to claim 7, characterized in that, The rocker arm drive mechanism includes a servo electric push rod and a connector fixed to the output end of the servo electric push rod; the rocker arm linkage bracket includes a movable base plate, a sliding guide rail seat, a sliding guide rail, a rocker arm front seat, a rocker arm rear seat, a rocker arm support rod assembly, and a suction cup mounting base. The movable base plate is "mountain" shaped and consists of a front seat fixing plate, two sliding guide rail fixing side plates, and a central connecting plate. The sliding guide rail fixing side plates and the central connecting plate are both oriented towards the gripping mechanism dragging assembly. Two sliding guide rails are provided, respectively mounted on the two sliding guide rail fixing side plates. The sliding guide rail seat is parallel to the front seat fixing plate, and sliders that cooperate with the sliding guide rails are fixedly installed on the lower sides of both ends. The central part is connected to... The connector at the end of the servo electric actuator is fixedly connected; multiple rocker arm front seats and rocker arm rear seats are provided, respectively fixedly installed on the front seat fixing plate and the sliding guide rail seat, and the rocker arm front seats and rocker arm rear seats are arranged one-to-one; the rocker arm support rod assembly corresponds one-to-one with the suction cup mounting seat, and each rocker arm support rod assembly includes multiple rocker arm support rods. The rocker arm support rods are placed between the corresponding rocker arm front seats and suction cup mounting seats, and the upper and lower ends are rotatably connected to the rocker arm front seats and suction cup mounting seats respectively through shafts; each rocker arm support rod assembly and its corresponding rocker arm rear seat are connected by a linkage rod, and the two ends of the linkage rod are rotatably connected to the rocker arm support rods and rocker arm rear seats of the rocker arm support rod assembly respectively.

9. The intelligent loading and unloading device according to claim 8, characterized in that, The gripping mechanism dragging assembly includes a dragging motor, a drive screw, a sliding nut, a nut mounting base, and a connecting rod. The output end of the dragging motor is connected to a gear transmission mechanism, the rear end of the drive screw is fixedly connected to the gear transmission mechanism, the sliding nut is sleeved on the drive screw and threadedly engaged with the drive screw, and the sliding nut is fixedly mounted on the nut mounting base. The nut mounting base is fixedly connected to the central connecting plate through the connecting rod.

10. The intelligent loading and unloading device according to claim 9, characterized in that, The walking support mechanism is a tracked walking support mechanism. A tail end conveying mechanism is also connected to the rear end of the rear lifting swing conveying mechanism. The tail end conveying mechanism includes a support frame, a tail end conveying mounting frame, and a tail end conveying mechanism. The front end of the support frame is fixed to the base plate of the walking support mechanism, and the rear end is equipped with casters. The tail end conveying mounting frame is fixed to the upper end of the support frame, and the tail end conveying mechanism is installed on the tail end conveying mounting frame.

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