Full-automatic loading system

Abstract

The utility model discloses a full-automatic truck loading system which comprises two conveying belts used for conveying cargoes and at least one truss carrying mechanism, the two conveying belts are arranged in parallel, a spaced area exists between the two conveying belts, and the spaced area forms a truck loading area for trucks to drive in so as to be used for truck loading of the cargoes; the truss carrying mechanism comprises a truss capable of moving back and forth in the conveying direction of the conveying belt; the material taking temporary storage module is arranged at the material taking station on the truss and used for obtaining the goods conveyed on the conveying belt and temporarily storing the goods; and the at least one goods carrying module is arranged on the truss, can move on the truss, grabs the goods temporarily stored at the material taking temporary storage module, and carries the goods into the boxcar to be stacked. A two-side carrying and stacking mode is adopted, so that the working efficiency is greatly improved. In addition, various configurations can be increased or decreased according to the requirements of customers, the loading efficiency of 2500-3000 packages per hour can be guaranteed to the maximum, and the application range is wide.

Description

Technical Field

[0001] This utility model relates to the field of cargo transportation technology, specifically to a fully automated loading system. Background Technology

[0002] In cargo transportation, loading and unloading of goods are constantly required. Currently, cargo loading is mostly done manually, which is very inefficient. There is a lack of automated loading systems. Although some mechanical loading methods have appeared on the market, the common systems mainly use articulated robotic arms with multiple grippers. The articulated arms cannot reach down to the side, and the high-throwing and stacking results in messy stacking patterns and poor loading quality. In addition, the loading efficiency of robotic arms is low, generally less than 1,500 packages per hour. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a fully automatic loading system to improve loading efficiency and loading quality.

[0004] To solve the above-mentioned technical problems, the objective of this utility model is achieved through the following technical solution:

[0005] A fully automated loading system includes two conveyor belts for transporting goods and at least one truss handling mechanism. The two conveyor belts are arranged in parallel and have an interval area, which forms a loading area for trucks to enter for loading goods.

[0006] The truss handling mechanism includes:

[0007] The truss can move back and forth along the conveying direction of the conveyor belt;

[0008] At least one material handling and storage module is provided at the material handling station on the truss and is used to pick up and temporarily store the goods conveyed on the conveyor belt.

[0009] At least one cargo handling module is mounted on the truss, which can move on the truss and grab cargo temporarily stored at the material handling and storage module, and transport it to the cargo compartment of the truck for stacking.

[0010] Preferably, the material storage module includes:

[0011] The material handling platform, located above the conveyor belt, is used to temporarily store goods for the goods handling module to grab and transport.

[0012] The feeding and conveying unit is used to transfer the goods conveyed on the conveyor belt to the picking platform.

[0013] Preferably, the feeding and conveying unit includes a feeding and conveying roller and a flipping drive connected to the feeding and conveying roller; the feeding and conveying roller has an inlet end and an outlet end, the feeding and conveying roller has a feeding position where the outlet end is flipped and raised around the inlet end and connected to the material receiving platform by the flipping drive, and a discharging position where the outlet end is flipped and lowered around the inlet end and connected to the conveyor belt by the flipping drive.

[0014] Preferably, the material handling and storage module further includes a sensing module for sensing whether there are goods on the material handling platform; the material handling platform has at least one material handling and storage station; and the material handling and storage station has a material handling and conveying roller for moving goods.

[0015] Preferably, the cargo handling module includes:

[0016] At least one gripper is provided for gripping goods at the temporary storage station on the material handling table.

[0017] A three-dimensional drive module, mounted on the truss, is used to drive the gripper to move in a three-dimensional direction so that the goods are transported from the side of the truck bed to the inside of the truck bed for stacking.

[0018] Preferably, the cargo handling module further includes:

[0019] A gripper mounting bracket having mounting positions that match the number of grippers and are used to mount the grippers;

[0020] A rotation drive module is used to drive the gripper mounting frame to rotate, thereby rotating the gripper and adjusting the placement direction of the goods.

[0021] Preferably, the gripper includes:

[0022] Two grippers are arranged opposite each other, and each gripper has a plurality of gripping fingers arranged side by side;

[0023] The synchronous clamping drive mechanism is used to drive two grippers to move closer or further apart synchronously, thereby clamping or releasing the goods to ensure that the goods are placed flat and stacked.

[0024] Preferably, the synchronous clamping drive mechanism includes:

[0025] Two drive rods are connected to two grippers respectively;

[0026] The gear set is used to synchronously output torques of the same rotation angle magnitude and opposite directions to the two drive rods, so that the two drive rods drive the two grippers to move synchronously and change the angle magnitude in the same way.

[0027] An electric motor is used to provide power to the gear set.

[0028] Preferably, the material handling platform includes two oppositely arranged side plates and several roller units arranged side by side with gaps. The two ends of each roller unit are connected to the two side plates respectively. The side plates have clearance openings that correspond one-to-one with the positions of the gripping fingers and one-to-one with the gap positions between the roller units. The gap width between the roller units is greater than the width of the gripping fingers.

[0029] Preferably, the truss includes two vertical support bodies and a horizontal support body located between the two vertical support bodies and higher than the height of the truck; the material handling temporary storage module is disposed on the vertical support body, and the three-dimensional driving module is disposed on the horizontal support body.

[0030] Preferably, the fully automated loading system also includes:

[0031] Two guide rails are arranged in a one-to-one correspondence with the positions of the two conveyor belts, and two vertical support bodies correspond to the two guide rails respectively, with movable wheels that cooperate with the guide rails;

[0032] A sprocket travel mechanism is used to drive the moving wheel to move back and forth along the guide rail.

[0033] Preferably, the sprocket travel mechanism includes:

[0034] Chains, used in conjunction with guide rails;

[0035] A sprocket module, used to provide driving force for walking, is installed at the lower part of the vertical support body and has a sprocket that cooperates with the chain.

[0036] The advantages of this utility model compared with the prior art are:

[0037] This invention employs a two-sided palletizing method, allowing goods to be directly transported to both sides for palletizing simultaneously, significantly improving work efficiency. Furthermore, this invention can be configured with one, two, or more truss handling mechanisms, and each module within the truss handling mechanism can also be configured in one, two, or more ways. This allows for various configurations and adjustments based on customer needs to handle different quantities or types of goods for loading, resulting in a wide range of applications. The system can guarantee a loading efficiency of up to 2500-3000 packages per hour. Additionally, because goods are directly transported into the truck bed, the grippers can reach down into the bed to stack materials, reducing the drop height and ensuring neat stacking.

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of a fully automated loading system in this embodiment.

[0041] Figure 2 This is a schematic diagram of the material handling temporary storage module in this embodiment.

[0042] Figure 3 This is a schematic diagram of a fully automated loading system in this embodiment.

[0043] Figure 4 for Figure 3 A magnified structural diagram of point A in the middle.

[0044] Figure 5 This is a schematic diagram of a fully automated loading system in this embodiment.

[0045] Figure 6 This is a schematic diagram of the gripper structure in this embodiment.

[0046] Figure 7 for Figure 5 A magnified structural diagram at point B in the middle.

[0047] Figure 8 This is a partial exploded structural diagram of the cargo handling module in this embodiment.

[0048] Figure 9 This is a schematic diagram of the synchronous clamping drive mechanism driving the gripper in this embodiment.

[0049] Explanation of the markings in the image:

[0050] 1. Conveyor belt;

[0051] 2. Truss handling mechanism;

[0052] 21. Truss; 211. Vertical support structure; 212. Horizontal support structure;

[0053] 22. Material handling temporary storage module; 221. Material handling platform; 2211. Side plate; 2212. Clearance opening; 2213. Individual roller; 222. Feeding and conveying unit; 2221. Feeding and conveying roller; 223. Tilting drive mechanism;

[0054] 23. Cargo handling module; 231. Gripper; 2311. Claw; 23111. Grip finger; 2312. Synchronous clamping drive mechanism; 23121. Drive rod; 23122. Gear set;

[0055] 232. Three-dimensional drive module; 2321. Gripper mounting bracket; 2322. Rotation drive module;

[0056] 3. Guide rail;

[0057] 4. Trucks;

[0058] 5. Goods;

[0059] 6. Sprocket travel mechanism; 61. Chain; 62. Sprocket module; 621. Sprocket. Detailed Implementation

[0060] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0061] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0062] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0063] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0064] like Figures 1-6 As shown, this embodiment is a fully automated loading system, including two conveyor belts 1 for transporting goods 5 and at least one truss handling mechanism 2. The two conveyor belts 1 are arranged in parallel and have an interval area, which forms a loading area for trucks 4 to drive into for loading goods.

[0065] The truss transport mechanism 2 includes:

[0066] The truss 21 can move back and forth along the conveying direction of the conveyor belt 1;

[0067] At least one material handling and temporary storage module 22 is provided at the material handling station on the truss 21 and is used to pick up and temporarily store the goods conveyed on the conveyor belt 1.

[0068] At least one cargo handling module 23 is mounted on the truss 21, which can move on the truss 21 and grab cargo temporarily stored at the material handling and storage module 22, and transport it to the truck compartment for stacking.

[0069] In this embodiment, when stacking goods, the truck can be driven to the loading area between the two conveyor belts 11. The truss handling mechanism 2 can move back and forth along the conveying direction of the conveyor belt 1. After moving to a suitable position according to the loading requirements, the goods on the conveyor belt 1 are temporarily stored by the material handling module 22. Then, the goods handling module 23 moves to the material handling station to grab the goods and move them to the truck bed for stacking. In this embodiment, the goods are transported from the conveyor belts 1 on both sides, so goods can be loaded on both sides at the same time, improving loading efficiency.

[0070] Of course, the number of truss handling mechanisms 2 in this embodiment can be set according to the actual situation. For example, there can be two truss handling mechanisms 2, which can handle the goods at the same time, further improving the loading efficiency of the goods.

[0071] In this embodiment, the number of cargo handling modules 23 in the truss handling mechanism 2 can also be set according to actual needs, such as one or two. The truss 21 in this embodiment can also have various structural forms, such as a gantry structure where the truck is located inside the gantry. Two cargo handling modules 23 can be set, located on either side of the truck. The cargo handling modules 23 on both sides simultaneously handle, load, and stack the cargo on the conveyor belts 1 on both sides, greatly improving the loading efficiency.

[0072] In one embodiment, the material handling temporary storage module includes:

[0073] The material handling platform 221 is located above the conveyor belt 1 and is used to temporarily store goods for the goods handling module 23 to grab and handle.

[0074] The feeding and conveying unit 222 is used to transfer the goods conveyed on the conveyor belt 1 to the picking platform 221.

[0075] In this embodiment, the goods are transported via conveyor belt 1. When the goods reach the loading and conveying unit 222, the goods are transferred to the picking platform 221 above the conveyor belt 1 via the loading and conveying unit 222. The goods handling module 23 then grabs and transports the goods at the picking platform 221 into the truck compartment.

[0076] In this embodiment, the feeding and conveying unit 222 can have various structural forms. In one embodiment, the feeding and conveying unit 222 includes a feeding and conveying roller 2221 and a flipping drive connected to the feeding and conveying roller 2221. The feeding and conveying roller 2221 has an inlet end and an outlet end. The feeding and conveying roller 2221 has a feeding position where the outlet end is flipped and raised around the inlet end and connected to the material picking platform 221 by the flipping drive, and a discharging position where the outlet end is flipped and lowered around the inlet end and connected to the conveyor belt 1 by the flipping drive.

[0077] In this embodiment, when there is no goods on the picking platform 221, the flipping drive mechanism 223 drives the feeding conveyor roller 2221 to flip and lift and connect with the picking platform 221. Then the goods on the conveyor belt 1 can continue to be transported to the picking platform 221 via the feeding conveyor roller 2221 for the goods grabbing module to grab.

[0078] When there are goods on the loading platform 221, the loading conveyor roller 2221 can be rotated and lowered by the tilting drive, so that the discharge end connects with the conveyor belt 1. At this time, the goods transported here continue to be transported back to the conveyor belt by the loading conveyor roller 2221, and are then transported and stacked by the gantry handling mechanism 2 at the next position. This method can avoid the accumulation of goods, which can cause blockages and reduce the efficiency of loading goods.

[0079] In addition, the flipping drive mechanism 223 in this embodiment can adopt various existing structural forms, such as a cylinder.

[0080] In one embodiment, the material handling temporary storage module further includes a sensing module for sensing whether there are goods on the material handling platform 221. To facilitate the control of the flipping drive, a sensing module can be provided on the material handling platform 221 to detect whether there are goods on the platform. The sensing module can be any existing sensing structure, such as a photoelectric switch.

[0081] In one embodiment, the material handling station 221 has at least one temporary storage station for goods; the temporary storage station has a material handling conveyor roller for moving goods. In this embodiment, the number of temporary storage stations can be set according to actual needs, for example, it can be set to two.

[0082] In this embodiment, the cargo handling module 23 can have various structural forms. In one embodiment, the cargo handling module 23 includes:

[0083] At least one gripper 231 is used to grip the goods at the temporary storage station on the material handling table 221;

[0084] A three-dimensional drive module 232 is mounted on the truss 21 and is used to drive the gripper 231 to move in a three-dimensional direction so that the goods are transported from the side of the truck bed to the truck bed for stacking.

[0085] In this embodiment, the gripper 231 can be used for transporting goods. Driven by the three-dimensional drive module 232, it can move in the x, y, or z directions. For example, if the length of the truck bed is in the x direction, the width in the y direction, and the height in the z direction, the three-dimensional drive module can move the gripper to one side of the truck bed. The gripper descends in the z direction to grab the goods, then rises and moves along the y direction, and then descends again in the z direction into the truck bed, thus transporting the goods into the truck bed. In this embodiment, because the gripper can reach into the truck bed to stack materials, the drop height is reduced, thereby ensuring neat stacking. Regarding the position of the gripper in the x direction in this embodiment, the three-dimensional drive module can be equipped with an x-direction drive unit that drives the x-direction. Alternatively, the position of the gripper in the x direction can be adjusted by moving the truss forward and backward. The three-dimensional drive module 232 can also be implemented with various conventional structural forms, which will not be elaborated here.

[0086] To ensure neat stacking of goods, in one embodiment, the goods handling module 23 further includes:

[0087] The gripper mounting bracket 2321 has mounting positions that match the number of grippers 231 and are used to mount the grippers 231;

[0088] The rotation drive module 2322 is used to drive the mounting frame of the gripper 231 to rotate, so that the gripper 231 rotates, thereby adjusting the placement direction of the goods.

[0089] In this embodiment, if it is necessary to adjust the placement direction of the goods, the gripper mounting frame 2321 can be rotated by the rotary drive module 2322, and then the goods can be stacked in the truck bed. In this embodiment, the rotary drive module 2322 can have various structural forms, such as motors, which will not be elaborated here.

[0090] In one embodiment, the gripper 231 includes:

[0091] Two grippers 2311 are arranged opposite each other, and each gripper 2311 has a plurality of gripping fingers 23111 arranged side by side;

[0092] The synchronous clamping drive mechanism 2312 is used to drive the two grippers 2311 to move closer or further apart synchronously, thereby clamping or releasing the goods to ensure that the goods are placed flat and stacked.

[0093] In this embodiment, a synchronous clamping drive mechanism 2312 is used to drive two grippers 2311 to grip or release synchronously. This avoids the situation where the opening state of the left and right grippers 2311 is inconsistent due to asynchrony, which would affect the falling posture of the goods when unloading them and thus affect the stability of the goods stacking. Therefore, in this embodiment, the synchronous gripping or releasing of the two grippers 2311 can ensure that the goods are placed and stacked in a more orderly and stable manner. In addition, in this embodiment, the grippers 2311 have several gripping fingers, which makes the gripping more secure.

[0094] Furthermore, the synchronous clamping drive mechanism 2312 in this embodiment has various structural forms and can adopt multiple structural forms. For example, in one embodiment, such as Figure 8 and Figure 9 As shown, the synchronous clamping drive mechanism 2312 includes:

[0095] Two drive rods 23121 are respectively connected to two grippers 2311;

[0096] The gear set 23122 is used to synchronously output torques of the same rotation angle magnitude and opposite direction to the two drive rods 23121, so that the two drive rods 23121 drive the two grippers 2311 to move synchronously and change the angle magnitude in the same way.

[0097] An electric motor is used to provide power to the gear set.

[0098] In this embodiment, the motor can drive the gear set to rotate, and the gear set can transmit torques with the same rotation angle but opposite directions to the two drive rods 23121 respectively, so that the drive rods 23121 can drive the grippers 2311 to synchronously clamp or release in opposite directions at the same angle.

[0099] like Figure 7 As shown, in this embodiment, the gear set may include, for example, four gears. The four gears mesh with each other, and the motor drives the gears to rotate. The meshing of the gears drives the adjacent gears to rotate, thereby outputting a driving force with the same rotation angle but opposite direction. The two outer gear shafts are Z-shaped shaft systems. When the gears rotate, the Z-shaped shafts rotate by an angle. The ends of the Z-shaped shafts are connected to the gripper 2311 through the drive rod 23121.

[0100] In one embodiment, the material handling platform 221 includes two oppositely arranged side plates 2211 and a plurality of roller units 2213 arranged side by side with gaps. The two ends of the roller units 2213 are respectively connected to the side plates 2211 on both sides. The side plates 2211 have clearance openings 2212 that correspond one-to-one with the positions of the gripper fingers 23111 and the gap positions between the roller units 2213. The gap width between the roller units 2213 is greater than the width of the gripper fingers.

[0101] In this embodiment, when gripping goods, the gripper 231 descends to the picking platform 221 under the drive of the three-dimensional drive module 232. The two grippers 2311 of the gripper 231 are located on both sides of the picking platform 221. When it is necessary to grip the goods, the gripping fingers 23111 of the two grippers 2311 pass through the corresponding clearance opening 2212 and enter the gap of the roller unit 2213 and approach each other to form a certain angle so that the goods are located in the two grippers 2311. Then, under the drive of the three-dimensional drive module 232, it rises and can pick up the goods from the picking platform 221. Finally, under the drive of the three-dimensional drive module 232, it is moved to the truck bed for stacking.

[0102] In one embodiment, the truss 21 includes two vertical support bodies 211 and a transverse support body 212 located between the two vertical support bodies 211 and higher than the height of the truck; the material handling temporary storage module is disposed on the vertical support body 211 and the three-dimensional driving module is disposed on the transverse support body 212.

[0103] like Figure 7 As shown, in one embodiment, the fully automated loading system further includes:

[0104] Two guide rails 3 are arranged in a one-to-one correspondence with the positions of the two conveyor belts, and two vertical support bodies 211 correspond to the two guide rails respectively, and are equipped with moving wheels that cooperate with the guide rails;

[0105] The sprocket traveling mechanism 6 is used to drive the moving wheel to move back and forth along the guide rail.

[0106] In one embodiment, the sprocket traveling mechanism 6 includes:

[0107] Chain 61, which works in conjunction with the guide rail;

[0108] The sprocket module 62 is used to provide driving force for walking. The sprocket module is installed on the lower part of the vertical support body 211 and has a sprocket 621 that cooperates with the chain.

[0109] In this embodiment, the truck can drive into the loading area, and the truss handling mechanism 2 can move along the guide rail to the truck bed. At this time, the truck bed is located below the horizontal support body 212, and the two vertical support bodies 211 are located on both sides of the truck bed. The three-dimensional motion module can drive the gripper 231 to move in three dimensions, grab the goods from both sides, move them to the top of the truck bed, and then lower them into the truck bed, thereby stacking the goods below into the truck bed.

[0110] When it is necessary to load goods into other positions in the truck compartment, the truss handling mechanism 2 moves along the guide rail to the next position and repeats the above operation. That is, in this embodiment, the truck can move forward to load goods by the distance of one piece of cargo. After one row of goods in the truck is loaded, it moves forward by the size of one piece of cargo to load the next row of goods. In this embodiment, there are various types of goods, such as boxed goods or bagged goods, and various types of goods can be loaded.

[0111] Since the loading and running rules in this embodiment are to quickly advance a distance the size of the cargo and then stop rapidly, the sprocket walking mechanism 6 can be used for driving in this embodiment. The sprocket drive causes the entire mechanism to move forward and backward. This mechanism can ensure that the mechanism will not slip during frequent and rapid starts and stops, thus preventing inaccurate positioning.

[0112] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A fully automated loading system, characterized in that, It includes two conveyor belts for transporting goods and at least one truss handling mechanism. The two conveyor belts are arranged in parallel and have a gap area, which forms a loading area for trucks to enter for loading goods. The truss handling mechanism includes: The truss can move back and forth along the conveying direction of the conveyor belt; At least one material handling and storage module is provided at the material handling station on the truss and is used to pick up and temporarily store the goods conveyed on the conveyor belt. At least one cargo handling module is mounted on the truss, which can move on the truss and grab cargo temporarily stored at the material handling and storage module, and transport it to the cargo compartment of the truck for stacking.

2. The fully automated loading system according to claim 1, characterized in that, The material storage module includes: The material handling platform, located above the conveyor belt, is used to temporarily store goods for the goods handling module to grab and transport. The feeding and conveying unit is used to transfer the goods conveyed on the conveyor belt to the picking platform.

3. The fully automated loading system according to claim 2, characterized in that, The feeding and conveying unit includes a feeding conveying roller and a flipping drive connected to the feeding conveying roller; the feeding conveying roller has an inlet end and an outlet end, the feeding conveying roller has a feeding position where the outlet end is flipped and raised around the inlet end and connected to the material receiving platform by the flipping drive, and a discharging position where the outlet end is flipped and lowered around the inlet end and connected to the conveyor belt by the flipping drive.

4. The fully automated loading system according to claim 3, characterized in that, The material handling and temporary storage module also includes a sensing module for sensing whether there are goods on the material handling platform; the material handling platform has at least one temporary storage station for goods; the temporary storage station for goods has a material handling and conveying roller for movable goods.

5. The fully automated loading system according to claim 4, characterized in that, The cargo handling module includes: At least one gripper is provided for gripping goods at the temporary storage station on the material handling table. A three-dimensional drive module, mounted on the truss, is used to drive the gripper to move in a three-dimensional direction so that the goods are transported from the side of the truck bed to the inside of the truck bed for stacking.

6. The fully automated loading system according to claim 5, characterized in that, The cargo handling module also includes: A gripper mounting bracket having mounting positions that match the number of grippers and are used to mount the grippers; A rotation drive module is used to drive the gripper mounting frame to rotate, thereby rotating the gripper and adjusting the placement direction of the goods.

7. The fully automated loading system according to claim 5, characterized in that, The gripper includes: Two grippers are arranged opposite each other, and each gripper has a plurality of gripping fingers arranged side by side; The synchronous clamping drive mechanism is used to drive two grippers to move closer or further apart synchronously, thereby clamping or releasing the goods to ensure that the goods are placed flat and stacked.

8. The fully automated loading system according to claim 7, characterized in that, The synchronous clamping drive mechanism includes: Two drive rods are connected to two grippers respectively; The gear set is used to synchronously output torques of the same rotation angle magnitude and opposite directions to the two drive rods, so that the two drive rods drive the two grippers to move synchronously and change the angle magnitude in the same way. An electric motor is used to provide power to the gear set.

9. The fully automated loading system according to claim 7, characterized in that, The material handling platform includes two oppositely arranged side plates and several roller units arranged side by side with gaps. The two ends of each roller unit are connected to the two side plates respectively. The side plates have clearance openings that correspond one-to-one with the positions of the gripping fingers and one-to-one with the gap positions between the roller units. The gap width between the roller units is greater than the width of the gripping fingers.

10. The fully automated loading system according to claim 5, characterized in that, The truss includes two vertical support bodies and a horizontal support body located between the two vertical support bodies and higher than the height of the truck; the material handling temporary storage module is disposed on the vertical support body, and the three-dimensional driving module is disposed on the horizontal support body; The fully automated loading system also includes: Two guide rails are arranged in a one-to-one correspondence with the positions of the two conveyor belts, and two vertical support bodies correspond to the two guide rails respectively, with movable wheels that cooperate with the guide rails; A sprocket travel mechanism is used to drive the moving wheel to move back and forth along the guide rail; The sprocket travel mechanism includes: Chains, used in conjunction with guide rails; A sprocket module, used to provide driving force for walking, is installed at the lower part of the vertical support body and has a sprocket that cooperates with the chain.

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