A box handling device and a handling robot

Abstract

This utility model relates to the field of automated container loading and unloading technology, and more specifically, to a container loading and unloading device and a loading and unloading robot. The container loading and unloading device includes a loading and unloading conveying mechanism for transporting containers. The conveying mechanism is connected to a first pushing mechanism and a second pushing mechanism. The first pushing mechanism pushes the containers that have left the conveying mechanism along a first direction, pressing them firmly in the loading space. The second pushing mechanism pushes the containers that have left the conveying mechanism along a second direction, pressing them firmly in the loading space. After the containers leave the conveying mechanism, the first and second pushing mechanisms further push the containers from the first and second directions respectively, pressing them firmly against other containers in the loading space, reducing the gaps between containers, and thus improving space utilization.

Description

Technical Field

[0001] This utility model relates to the field of automated container loading and unloading technology, and more specifically, to a container loading and unloading device and a loading and unloading robot. Background Technology

[0002] With the rapid development of the logistics and automation industries, most factories in the logistics sector have one or more complete assembly lines for the internal transportation of goods. However, when loading and unloading containers for import and export goods, the various specifications and dimensions of containers, truck bodies, and shipping containers make it difficult to adopt automated loading and unloading methods, making it hard to ensure that the containers are arranged neatly during loading, resulting in low space utilization.

[0003] For example, Chinese patent CN118954111A discloses a carton loading and unloading robot for vans, which uses a robotic arm equipped with a conveying device and a suction cup picking system to load and unload boxes. However, when stacking boxes, the boxes fall into the designated position by inertia after leaving the conveying device, resulting in gaps between the boxes and wasting loading and unloading space. Utility Model Content

[0004] To overcome the problem of low space utilization when using automation technology to load and unload containers in the prior art, the first aspect of this utility model provides a container loading and unloading device that can effectively improve space utilization.

[0005] The second aspect of this utility model provides a loading and unloading robot.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a container loading and unloading device, comprising: a loading and unloading conveying mechanism for conveying containers, wherein the loading and unloading conveying mechanism is connected to a first pushing mechanism and a second pushing mechanism, wherein the first pushing mechanism is used to push the container that has left the loading and unloading conveying mechanism along a first direction to press it in the loading space, and the second pushing mechanism is used to push the container that has left the loading and unloading conveying mechanism along a second direction to press it in the loading space.

[0007] In the technical solution of this utility model, after the container leaves the loading and unloading conveying mechanism, the first pushing mechanism and the second pushing mechanism further push the container from the first direction and the second direction respectively, so that the container is pressed between other containers in the loading space, reducing the gap between the containers, thereby improving the space utilization rate.

[0008] Furthermore, the first direction is arranged in the same direction as the conveying direction of the loading and unloading conveying mechanism, and the second direction is arranged in a direction perpendicular to the conveying direction of the loading and unloading conveying mechanism.

[0009] In this solution, the boxes are pushed along the conveying direction and laterally to press the sides of the boxes together, thereby improving space utilization.

[0010] Furthermore, the loading and unloading conveying mechanism is connected to a limiting mechanism, which is located on the side closer to the direction of the box than the first box pushing mechanism and the second box pushing mechanism. The limiting mechanism can move laterally along the loading and unloading conveying mechanism to limit the conveying channel of the box.

[0011] In this solution, a limiting mechanism is used to restrict the position of the container on the loading and unloading conveying mechanism, thereby improving the accuracy of the container's conveying position.

[0012] Furthermore, the loading and unloading conveying mechanism includes multiple parallel loading and unloading conveyor belts, with adjacent loading and unloading conveyor belts having intervals, and suction cup mechanisms provided in the intervals; in a first state, the suction cup mechanisms can be housed in the intervals and are not higher than the conveying plane height of the loading and unloading conveyor belts, and in a second state, the suction cup mechanisms can extend from the intervals to grab the box and place it on the loading and unloading conveyor belts.

[0013] In this solution, the container can be picked up by a suction cup mechanism and placed onto the loading and unloading conveyor belt for unloading. When the suction cup mechanism is retracted into the interval, it does not affect the container's passage on the loading and unloading conveyor belt.

[0014] This utility model also provides a loading and unloading robot, including a container loading and unloading device, a telescopic conveying mechanism and a transport vehicle, wherein the telescopic conveying mechanism is connected to the transport vehicle, and the container loading and unloading device is connected to the output end of the telescopic conveying mechanism.

[0015] In this solution, the container loading and unloading device can press the containers together, thereby improving the space utilization of the loading and unloading robot during container loading. The transport vehicle enables the loading and unloading robot to move. The telescopic conveyor mechanism allows the loading and unloading robot to have a longer conveying path, which is suitable for loading and unloading containers in long containers. On the other hand, it can be shortened to reduce the overall length of the loading and unloading robot, so as to facilitate the movement and turning of the loading and unloading robot when it is not working.

[0016] Furthermore, an attitude adjustment mechanism for changing the orientation of the container loading and unloading device is provided between the container loading and unloading device and the telescopic conveying mechanism. The attitude adjustment mechanism includes a steering attitude drive, a steering attitude connector, a pitch attitude drive, and a pitch attitude connector. The steering attitude connector is hinged to the telescopic conveying mechanism in the left-right direction, the pitch attitude connector is hinged to the steering attitude connector in the up-down direction, the pitch attitude connector is fixedly connected to the container loading and unloading device, the steering attitude drive is driven to the steering attitude connector, and the pitch attitude drive is driven to the pitch attitude connector.

[0017] In this solution, the pitch and yaw angles of the container loading and unloading device can be flexibly adjusted through the attitude adjustment mechanism, so as to accurately transport the container to the target position and improve space utilization.

[0018] Furthermore, the transport vehicle is connected to a lifting mechanism, one end of the telescopic conveying mechanism is hinged to the transport vehicle in the pitch direction, and the other end of the telescopic conveying mechanism is hinged to the output end of the lifting mechanism.

[0019] In this solution, the height of the telescopic conveyor can be adjusted by the lifting mechanism, thereby covering a wider range of container loading and unloading operations.

[0020] Furthermore, the telescopic conveying mechanism is connected to a visual recognition system for acquiring image information of the container in the loading space.

[0021] In this solution, a visual recognition system can acquire image information of the container in the loading space, so as to plan and control the loading and unloading of the container and improve the loading and unloading efficiency.

[0022] Furthermore, the telescopic conveying mechanism includes a first frame, the first frame is connected to a lifting drive assembly, the output end of the lifting drive assembly is connected to a first conveyor belt assembly to drive the first conveyor belt assembly to lift and lower, the first frame is movably connected to a second frame, the second frame is connected to a second conveyor belt assembly, and the second frame is connected to a movement drive assembly to drive the second conveyor belt assembly to move toward or away from the first conveyor belt assembly.

[0023] In this solution, the lifting drive component raises the first conveyor belt assembly to create space at its bottom, and the moving drive component moves the second frame to the bottom of the first conveyor belt assembly for storage. This reduces the length of the telescopic conveyor mechanism and facilitates the movement and turning of the loading and unloading robot when it is not in operation.

[0024] Furthermore, the telescopic conveying mechanism also includes a third frame and a third conveyor belt assembly. The third frame is movably connected to the second frame. The third conveyor belt assembly includes a plurality of movable belt rollers, a plurality of fixed belt rollers, and a third belt body. The movable belt rollers are rotatably connected to the third frame, and the fixed belt rollers are rotatably connected to the second frame. The third belt body is sleeved on the movable belt rollers and the fixed belt rollers. The third frame can drive the movable belt rollers to move relative to the fixed belt rollers to change the working surface length of the third belt body.

[0025] In this solution, the length of the working surface of the third belt body can be adjusted by moving the third frame, thereby shortening or lengthening the first conveyor belt assembly, and the conveying length can be adjusted according to actual usage requirements.

[0026] Compared with the prior art, the present invention has at least the following beneficial effects: I. The container loading and unloading device of this utility model, after the container leaves the loading and unloading conveying mechanism, pushes the container further from the first direction and the second direction by the first pushing mechanism and the second pushing mechanism respectively, so that the container is pressed between other containers in the loading space, reducing the gap between the containers, thereby improving the space utilization rate.

[0027] II. The container loading and unloading device of this utility model restricts the position of the container on the loading and unloading conveyor by setting a limiting mechanism, thereby improving the accuracy of the container's conveying position. The container can be unloaded by grabbing it onto the loading and unloading conveyor belt by a suction cup mechanism. When the suction cup mechanism is stored in the interval, it does not affect the container's passage on the loading and unloading conveyor belt.

[0028] Third, the loading and unloading robot of this utility model adopts a box loading and unloading device that can press the boxes together, thereby improving the space utilization rate of the loading and unloading robot when loading boxes. The transport vehicle enables the loading and unloading robot to move. The telescopic conveying mechanism enables the loading and unloading robot to have a longer conveying path, which is suitable for loading and unloading boxes in long containers. On the other hand, it can be shortened to reduce the overall length of the loading and unloading robot, so as to facilitate the movement and turning of the loading and unloading robot when not in operation.

[0029] IV. The loading and unloading robot of this utility model can flexibly adjust the pitch angle and left and right yaw angle of the container loading and unloading device through the attitude adjustment mechanism, so as to accurately transport the container to the target position and improve the space utilization. Through the lifting mechanism, the height of the telescopic conveying mechanism can be adjusted, thereby covering a larger range of container loading and unloading work. Attached Figure Description

[0030] Figure 1This is a schematic diagram of the overall structure of the loading and unloading robot of this utility model; Figure 2 This is a schematic diagram of the structure of the container loading and unloading device of this utility model; Figure 3 This is a schematic diagram of the first pusher mechanism; Figure 4 This is a schematic diagram of the second pusher mechanism; Figure 5 This is a schematic diagram of the limiting mechanism; Figure 6 This is a schematic diagram of the suction cup mechanism; Figure 7 yes Figure 1 Enlarged view of point A; Figure 8 yes Figure 7 A diagram showing the bottom view; Figure 9 This is a schematic diagram of the connection structure between the pitch attitude drive and the steering attitude drive and the third frame; Figure 10 This is a structural schematic diagram of the pitch attitude drive component; Figure 11 This is a structural schematic diagram of the steering attitude drive component; Figure 12 This is a partial structural side view of the telescopic conveyor mechanism; Figure 13 This is a simplified structural diagram of the telescopic conveyor mechanism in its first state; Figure 14 This is a simplified structural diagram of the telescopic conveyor mechanism in its second state; Figure 15 This is a simplified structural diagram of the telescopic conveyor mechanism in its third state; Figure 16 This is a schematic diagram of the third conveyor belt assembly; Figure 17 This is a schematic diagram of the connection structure between the first frame and the first conveyor belt assembly; Figure 18 This is a schematic diagram of the lifting mechanism.

[0031] In the attached diagram: 1. Loading and unloading conveyor mechanism; 11. Loading and unloading conveyor belt; 12. Suction cup mechanism; 121. Suction cup body; 122. Suction cup drive motor; 123. Suction cup moving transmission assembly; 2. First pushing box mechanism; 21. First pushing box drive motor; 22. First pushing box crank; 23. First pushing box connecting rod; 24. First pushing box slide rail; 25. First pushing box slider; 26. First push plate; 3. Second pushing box mechanism; 31. Second pushing box transverse drive motor; 32. Second pushing box transverse transmission assembly; 33. Second pushing box longitudinal drive motor; 34. Second pushing box longitudinal transmission assembly; 35. Second push plate; 4. Limiting mechanism; 41. Limiting drive motor; 42. Limiting transmission assembly; 43. Limiting plate; 5. Telescopic conveyor mechanism; 51. First frame; 52. Second frame; 53. Third... Frame; 54. Lifting drive assembly; 55. First conveyor belt assembly; 56. Second conveyor belt assembly; 57. Third conveyor belt assembly; 571. Moving belt roller; 572. Fixed belt roller; 573. Third belt body; 6. Transport vehicle; 7. Attitude adjustment mechanism; 71. Pitch attitude drive component; 711. Pitch drive motor lead screw; 712. Pitch drive mounting bracket; 713. Pitch drive push rod; 72. Pitch attitude connector; 73. Steering attitude drive component; 731. Steering drive motor lead screw; 732. Steering drive mounting bracket; 733. Steering drive push rod; 74. Steering attitude connector; 8. Lifting mechanism; 81. Lifting drive component; 82. First lifting link; 83. Second lifting link; 84. Lifting telescopic support rod; 9. Vision recognition system. Detailed Implementation

[0032] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0033] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "long," and "short" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, 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 component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0034] The technical solution of this utility model will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings: Example 1 refer to Figures 1 to 4 This embodiment discloses a container loading and unloading device, including: a loading and unloading conveying mechanism 1 for transporting containers; the loading and unloading conveying mechanism 1 is connected to a first pushing mechanism 2 and a second pushing mechanism 3; the first pushing mechanism 2 is used to push the containers that have left the loading and unloading conveying mechanism 1 in a first direction and press them firmly in the loading space; the second pushing mechanism 3 is used to push the containers that have left the loading and unloading conveying mechanism 1 in a second direction and press them firmly in the loading space. The loading space can be a space such as a cargo box or warehouse used to accommodate containers.

[0035] In this embodiment, after the container leaves the loading and unloading conveyor mechanism 1, the first pushing mechanism 2 and the second pushing mechanism 3 further push the container from the first direction and the second direction, respectively, so that the container is pressed against other containers in the loading space, reducing the gap between the containers and thus improving space utilization. In actual use, the container loading and unloading device can be set at the execution end of the conveyor robot, and the container is pressed against the device when it is sent out.

[0036] refer to Figure 2 The first direction is arranged in the same direction as the conveying direction of the loading and unloading conveying mechanism 1, and the second direction is arranged perpendicular to the conveying direction of the loading and unloading conveying mechanism 1. In this embodiment, by pushing the box along the conveying direction and laterally, the sides of the box are pressed together, thereby improving space utilization.

[0037] refer to Figure 3 The figure shows a schematic diagram of the structure of the first pusher mechanism 2. The first pusher mechanism 2 includes a first pusher drive motor 21, a first pusher crank 22, a first pusher connecting rod 23, a first pusher slide rail 24, a first pusher slider 25, and a first pusher plate 26. The fixed end of the first pusher drive motor 21 is fixedly connected to the fixed part of the loading and unloading conveying mechanism 1. The output shaft of the first pusher drive motor 21 is fixedly connected to one end of the first pusher crank 22, which drives the first pusher crank 22 to rotate. The other end of the first pusher crank 22 is hinged to one end of the first pusher connecting rod 23, and the other end of the first pusher connecting rod 23 is rotatably connected to the first pusher slide rail 24. The first pusher slide rail 24 is slidably connected to the first pusher slider 25, which is fixed to the fixed structure of the loading and unloading conveying mechanism 1. The end of the first pusher slide rail 24 is fixedly connected to the first pusher plate 26. The first pusher crank 22, the first pusher connecting rod 23, and the first pusher slide rail 24 are connected to form a crank-slider mechanism, which realizes the reciprocating motion of the first push plate 26 along the first direction, thereby pushing the box to press. The fixed part of the loading and unloading conveying mechanism 1 refers to the part of the loading and unloading conveying mechanism 1 that does not drive the box to move during operation, such as the load-bearing frame part.

[0038] In some other embodiments, the first pusher mechanism 2 may also use an electric cylinder, a hydraulic cylinder, or other reciprocating structures as the drive structure.

[0039] refer to Figure 4 The diagram shows a schematic of the second pusher mechanism 3. The second pusher mechanism 3 includes a second pusher transverse drive motor 31, a second pusher transverse transmission assembly 32, a second pusher longitudinal drive motor 33, a second pusher longitudinal transmission assembly 34, and a second pusher plate 35. The fixed end of the second pusher transverse drive motor 31 is fixedly connected to the fixed part of the loading and unloading conveying mechanism 1. The output end of the second pusher transverse drive motor 31 is connected to the second pusher plate 35 via the second pusher transverse transmission assembly 32, driving the second pusher plate 35 to move laterally along the loading and unloading conveying mechanism 1. The fixed end of the second pusher longitudinal drive motor 33 is fixedly connected to the fixed part of the loading and unloading conveying mechanism 1, and the output end of the second pusher longitudinal drive motor 33 is connected to the second pusher plate 35 via the second pusher longitudinal drive transmission assembly, driving the second pusher plate 35 to move longitudinally along the loading and unloading conveying mechanism 1. Here, longitudinal refers to the conveying direction of the loading and unloading conveying mechanism 1, and transverse refers to the direction perpendicular to the longitudinal direction.

[0040] In this embodiment, the second pusher box transverse transmission assembly 32 is a chain drive structure, and the second pusher box longitudinal transmission assembly 34 is a multi-stage transmission structure formed by a worm gear and gears. In other embodiments, the second pusher box transverse transmission assembly 32 and the second pusher box longitudinal transmission assembly 34 may also adopt a belt drive structure, a gear and rack drive structure, or other transmission structures, as long as they can realize the second pusher plate 35 moving laterally and extending longitudinally.

[0041] refer to Figure 2 The loading and unloading conveying mechanism 1 is connected to a limiting mechanism 4. The limiting mechanism 4 is located on the side closer to the direction the box is coming from, relative to the first box pushing mechanism 2 and the second box pushing mechanism 3. The limiting mechanism 4 can move laterally along the loading and unloading conveying mechanism 1 to limit the conveying channel of the box. In this embodiment, by setting the limiting mechanism 4 to restrict the position of the box on the loading and unloading conveying mechanism 1, the accuracy of the box conveying position is improved.

[0042] refer to Figure 5The diagram shows a schematic of the limiting mechanism 4. The limiting mechanism 4 includes a limiting drive motor 41, a limiting transmission assembly 42, and a limiting plate 43. The fixed end of the limiting drive motor 41 is fixedly connected to the fixed part of the loading and unloading conveying mechanism 1. The output end of the limiting drive motor 41 is connected to the limiting plate 43 via the limiting transmission assembly 42, driving the limiting plate 43 to move laterally along the loading and unloading conveying mechanism 1. The limiting transmission assembly 42 is implemented using a worm gear and parallelogram mechanism. The worm is coaxially and fixedly connected to the output shaft of the limiting drive motor 41, and the worm gear meshes and transmits power. The central axis of the worm is coaxially and fixedly connected to the hinge point of the parallelogram mechanism, thereby driving the parallelogram mechanism to swing back and forth and left and right, causing the limiting plate 43 to move laterally.

[0043] In other embodiments, the limit drive motor 41 and the limit transmission assembly 42 can also be implemented using structures such as electric cylinders and hydraulic cylinders that can achieve similar driving and moving effects.

[0044] refer to Figure 2 The loading and unloading conveying mechanism 1 includes multiple parallel loading and unloading conveyor belts 11, with gaps between adjacent belts. Suction cup mechanisms 12 are provided in the gaps. In a first state, the suction cup mechanisms 12 are retracted into the gaps and do not exceed the conveying plane height of the loading and unloading conveyor belts 11. In a second state, the suction cup mechanisms 12 extend from the gaps to grab boxes and place them onto the loading and unloading conveyor belts 11. In this embodiment, unloading is achieved by grabbing the boxes onto the loading and unloading conveyor belts 11 using the suction cup mechanisms 12. When the suction cup mechanisms 12 are retracted into the gaps, they do not impede the boxes from passing over the loading and unloading conveyor belts 11.

[0045] refer to Figure 6 The figure shows a schematic diagram of the suction cup mechanism 12. The suction cup mechanism 12 includes a suction cup body 121, a suction cup drive motor 122, and a suction cup movement transmission assembly 123. The fixed end of the suction cup drive motor 122 is fixedly connected to the fixed part of the loading and unloading conveying mechanism 1. The output shaft of the suction cup drive motor 122 is connected to the suction cup body 121 via the suction cup movement transmission assembly 123, thereby driving the suction cup body 121 to extend and retract from the gap. The suction cup movement transmission assembly 123 is a combination of a worm gear and a parallelogram mechanism. The worm gear is coaxially and fixedly connected to the output shaft of the suction cup drive motor 122, and the worm gear meshes and transmits power. The central axis of the worm gear is coaxially and fixedly connected to the hinge point of the swing arm of the parallelogram mechanism, thereby driving the parallelogram mechanism to swing up and down and back and forth, causing the suction cup to extend and retract.

[0046] In other embodiments, the suction cup drive motor 122 and the suction cup moving transmission assembly 123 can also be implemented using structures such as electric cylinders and hydraulic cylinders that can achieve similar driving and moving effects.

[0047] Example 2 refer to Figure 1 This embodiment discloses a loading and unloading robot, including a box loading and unloading device as in Embodiment 1, a telescopic conveying mechanism 5, and a transport vehicle 6. The telescopic conveying mechanism 5 is connected to the transport vehicle 6, and the box loading and unloading device is connected to the output end of the telescopic conveying mechanism 5.

[0048] In this embodiment, the container loading and unloading device can press the containers together, thereby improving the space utilization of the loading and unloading robot during container loading. The transport vehicle 6 enables the loading and unloading robot to move. The telescopic conveyor 5 enables the loading and unloading robot to have a longer conveying path, which is suitable for loading and unloading containers in long containers. On the other hand, it can be shortened to reduce the overall length of the loading and unloading robot, so that the loading and unloading robot can move and turn when not in operation.

[0049] refer to Figure 1 and Figure 7 An attitude adjustment mechanism 7 for changing the orientation of the container loading and unloading device is provided between the container loading and unloading device and the telescopic conveying mechanism 5. The attitude adjustment mechanism 7 includes a steering attitude drive 73, a steering attitude connector 74, a pitch attitude drive 71, and a pitch attitude connector 72. The steering attitude connector 74 is hinged to the telescopic conveying mechanism 5 in the left-right direction, the pitch attitude connector 72 is hinged to the steering attitude connector 74 in the up-down direction, the pitch attitude connector 72 is fixedly connected to the container loading and unloading device, the steering attitude drive 73 is driven to the steering attitude connector 74, and the pitch attitude drive 71 is driven to the pitch attitude connector 72.

[0050] In this embodiment, the attitude adjustment mechanism 7 can flexibly adjust the pitch angle and left and right yaw angle of the container loading and unloading device, so as to accurately transport the container to the target position and improve space utilization.

[0051] refer to Figure 7 and Figure 8 , Figure 7 This is a side view of the position of the attitude adjustment mechanism 7. Figure 8This is a bottom view schematic diagram of the attitude adjustment mechanism 7. Specifically, the steering attitude connector 74 is hinged to the third frame 53 of the telescopic conveying mechanism 5. The hinge axis is set vertically, allowing the steering attitude connector 74 to deflect left and right. A pitch attitude connector 72 is hinged to the top of the steering attitude connector 74. The hinge axis is set horizontally, allowing the pitch attitude connector 72 to deflect up and down. A steering attitude drive 73 is connected to the side of the steering attitude connector 74. The steering attitude drive 73 pushes forward or pulls backward on one side of the steering attitude connector 74, causing the steering attitude connector 74 to deflect left and right. The steering attitude drive 73 and the steering attitude connector 74 are connected by a joint bearing, allowing for pushing at the deflection angle. A pitch attitude drive 71 is connected to the bottom of the pitch attitude connector 72. The pitch attitude drive 71 can push forward or pull backward on the pitch attitude connector 72, causing the pitch attitude connector 72 to deflect up and down. Similarly, the pitch attitude drive 71 and the pitch attitude connector 72 are also connected by a joint bearing, which can be pushed at the angle of deflection.

[0052] More specifically, see reference Figure 9 The figure shows a schematic diagram of the connection structure between the pitch attitude drive 71 and the steering attitude drive 73 and the third frame 53. The fixed ends of the pitch attitude drive 71 and the steering attitude drive 73 are fixedly connected to the third frame 53, and the output ends of the pitch attitude drive 71 and the steering attitude drive 73 extend out of the front end of the third frame 53.

[0053] refer to Figure 10 The diagram shows a schematic of the pitch attitude drive component 71. The pitch attitude drive component 71 includes a pitch drive motor lead screw 711, a pitch drive mounting bracket 712, and a pitch drive push rod 713. The fixed end of the pitch drive motor lead screw is fixedly connected to the third frame 53, and the output end of the pitch drive motor is fixedly connected to the pitch mounting bracket. The pitch mounting bracket is slidably connected to the third frame 53 via a slider guide rail. The pitch drive mounting bracket 712 is connected to the pitch drive push rod 713 via a spherical bearing, and the pitch drive push rod 713 is connected to the pitch attitude connector 72 via a spherical bearing. Because of the two spherical bearings, the pitch attitude drive component 71 can still maintain power transmission without motion interference when the pitch attitude connector 72 is in a deflected state. Using the pitch drive mounting bracket 712 as an intermediate connection improves the stability of the transmission.

[0054] refer to Figure 11The diagram illustrates the structure of the steering attitude drive component 73. The steering attitude drive component 73 includes a steering drive motor lead screw 731, a steering drive mounting bracket 732, and a steering drive push rod 733. The fixed end of the steering drive motor lead screw 731 is fixedly connected to the third frame 53, and the output end of the steering drive motor lead screw 731 is fixedly connected to the steering mounting bracket. The steering mounting bracket is slidably connected to the third frame 53 via a slider guide rail. The steering drive mounting bracket 732 is connected to the steering drive push rod 733 via a spherical bearing, and the steering drive push rod 733 is connected to the steering attitude connector 74 via a spherical bearing. Similarly, due to the presence of two spherical bearings, the steering attitude drive component 73 can still maintain power transmission without motion interference when the steering attitude connector 74 is in a deflected state. Using the steering drive mounting bracket 732 as an intermediate connection improves the stability of the transmission.

[0055] refer to Figure 18 The transport vehicle 6 is connected to a lifting mechanism 8. One end of the telescopic conveying mechanism 5 is hinged to the transport vehicle 6 in the pitch direction, and the other end of the telescopic conveying mechanism 5 is hinged to the output end of the lifting mechanism 8. The height of the telescopic conveying mechanism 5 can be adjusted by the lifting mechanism 8, thereby covering a wider range of container loading and unloading operations. In this embodiment, the lifting mechanism 8 includes a lifting drive component 81, a first lifting connecting rod 82, a second lifting connecting rod 83, and a lifting telescopic support rod 84. The lower end of the first lifting connecting rod 82 is hinged to the transport vehicle 6, the upper end of the first lifting connecting rod 82 is hinged to the upper end of the second lifting connecting rod 83, and the upper end of the second lifting connecting rod 83 is hinged to the fixed part of the telescopic conveying mechanism 5. The fixed end of the lifting drive component 81 is connected to the transport vehicle 6, and the output end of the lifting drive component 81 is hinged to the first lifting connecting rod 82. The lifting drive component 81 can be a hydraulic push rod or an electric push rod. The two ends of the lifting telescopic support rod 84 are respectively connected to the first lifting and hinged to the transport vehicle 6, playing an auxiliary support role.

[0056] refer to Figure 1 The telescopic conveyor mechanism 5 is connected to a visual recognition system 9 for acquiring image information of the containers in the loading space. In this embodiment, the visual recognition system 9 can acquire image information of the containers in the loading space to facilitate planning and control of container loading and unloading actions, thereby improving container loading and unloading efficiency. The visual recognition system 9 may include a camera and a controller communicatively connected to the camera.

[0057] refer to Figures 12 to 15The telescopic conveyor mechanism 5 includes a first frame 51, a lifting drive assembly 54 connected to the first frame 51, a first conveyor belt assembly 55 connected to the output end of the lifting drive assembly 54 to drive the first conveyor belt assembly 55 to lift. A second frame 52 is movably connected to the first frame 51, a second conveyor belt assembly 56 is connected in the second frame 52, and a movement drive assembly is connected to the second frame 52 to drive the second conveyor belt assembly 56 to move toward or away from the first conveyor belt assembly 55.

[0058] In this embodiment, the lifting drive component 54 drives the first conveyor belt assembly 55 to rise, forming a space at its bottom. The moving drive component drives the second frame 52 to move towards the bottom of the first conveyor belt assembly 55 for storage, thereby reducing the length of the telescopic conveyor mechanism 5. This facilitates the movement and turning of the loading and unloading robot when it is not in operation.

[0059] Example 3 refer to Figures 12 to 17 This embodiment is similar to Embodiment 2, except that in this embodiment, the telescopic conveying mechanism 5 further includes a third frame 53 and a third conveyor belt assembly 57. The third frame 53 is movably connected to the second frame 52. The third conveyor belt assembly 57 includes a plurality of movable belt rollers 571, a plurality of fixed belt rollers 572, and a third belt body 573. The movable belt rollers 571 are rotatably connected to the third frame 53, and the fixed belt rollers 572 are rotatably connected to the second frame 52. The third belt body 573 is sleeved on the movable belt rollers 571 and the fixed belt rollers 572. The third frame 53 can drive the movable belt rollers 571 to move relative to the fixed belt rollers 572 to change the working surface length of the third belt body 573.

[0060] In this embodiment, the length of the working surface of the third belt body 573 can be adjusted by moving the third frame 53, thereby shortening or lengthening the first conveyor belt assembly, and the conveying length can be adjusted in the working state according to actual usage requirements.

[0061] Figure 12 This is a partial structural side view of the telescopic conveyor mechanism 5. Figure 17 This is a schematic diagram showing the connection between the first conveyor belt assembly 55 and the first frame 51 via a lifting drive assembly 54. To clearly illustrate the structure and working principle of each part, the following uses... Figures 13 to 15 The structural diagram is used for illustration. It is understandable that... Figures 13 to 15 The boxes shown are schematic diagrams of each rack, indicating the approximate coverage and connection range. The rack structure itself does not interfere with the transport of the box on the belt. Those skilled in the art can implement the technical solution of this embodiment based on the structural diagram.

[0062] refer to Figure 13 In the first state, the second frame 52 is at least partially retracted into the first frame 51, and the third frame 53 is at least partially retracted into the second frame 52. At this time, the telescopic conveyor mechanism 5 is in a non-working state, and its overall length is relatively short, which facilitates the movement and turning of the loading and unloading robot.

[0063] refer to Figure 14 In the second state, compared to the first state, the second frame 52 extends further from the first frame 51, and the first conveyor belt assembly 55 descends to the same height as the second conveyor belt assembly 56. At this time, the telescopic conveyor mechanism 5 can transport the box over a shorter length.

[0064] refer to Figure 15 as well as Figure 16 In the third state, compared to the second state, the third frame 53 extends further from the second frame 52, driving the movable belt roller 571 of the third conveyor belt assembly 57 to extend. At this time, the length of the working surface above the third belt body 573 increases, and the telescopic conveyor mechanism 5 can carry out the transport of the box over a longer length.

[0065] refer to Figures 13 to 16 The third conveyor belt assembly 57 will be further described below. In this embodiment, four fixed belt rollers 572 are provided, with the three fixed belt rollers 572 on the left side located inside the third belt body 573 and the rightmost fixed belt roller 572 located on the outside of the third belt body 573. The four fixed belt rollers 572 do not move relative to the second frame 52, but the fixed belt rollers 572 can rotate on their own. Three movable belt rollers 571 are provided, all located inside the third belt body 573. The rightmost movable belt roller 571 is at the same height as the leftmost movable belt roller 571, thus forming a working surface for conveying the box on the upper side of the third belt body 573. At least the leftmost movable belt roller 571 can move to the bottom of the fixed belt rollers 572, ensuring that the third belt body 573 is always taut, and the length of the working surface can be adjusted by moving the third frame 53 as needed. This allows adjustment of the working surface length of the telescopic conveyor mechanism 5 in the working state, suitable for loading and unloading operations inside long cargo boxes.

[0066] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A container loading and unloading device, characterized in that: It includes a loading and unloading conveying mechanism (1) for conveying boxes, the loading and unloading conveying mechanism (1) being connected to a first box pushing mechanism (2) and a second box pushing mechanism (3), the first box pushing mechanism (2) being used to push the boxes that have left the loading and unloading conveying mechanism (1) along a first direction to press them in the loading space, and the second box pushing mechanism (3) being used to push the boxes that have left the loading and unloading conveying mechanism (1) along a second direction to press them in the loading space.

2. The container loading and unloading device according to claim 1, characterized in that: The first direction is arranged in the same direction as the conveying direction of the loading and unloading conveying mechanism (1), and the second direction is arranged in the direction perpendicular to the conveying direction of the loading and unloading conveying mechanism (1).

3. The container loading and unloading device according to claim 1, characterized in that: The loading and unloading conveying mechanism (1) is connected to a limiting mechanism (4). The limiting mechanism (4) is located on the side closer to the direction of the box than the first box pushing mechanism (2) and the second box pushing mechanism (3). The limiting mechanism (4) can move laterally along the loading and unloading conveying mechanism (1) to limit the conveying channel of the box.

4. The container loading and unloading device according to claim 1, characterized in that: The loading and unloading conveying mechanism (1) includes multiple loading and unloading conveyor belts (11) arranged in parallel, with adjacent loading and unloading conveyor belts (11) having a gap, and a suction cup mechanism (12) is provided in the gap; in a first state, the suction cup mechanism (12) can be housed in the gap and is not higher than the conveying plane height of the loading and unloading conveyor belt (11); in a second state, the suction cup mechanism (12) can extend from the gap to grab the box and place it on the loading and unloading conveyor belt (11).

5. A loading and unloading robot, characterized in that: It includes a container loading and unloading device, a telescopic conveyor mechanism (5), and a transport vehicle (6) as described in any one of claims 1 to 4, wherein the telescopic conveyor mechanism (5) is connected to the transport vehicle (6), and the container loading and unloading device is connected to the output end of the telescopic conveyor mechanism (5).

6. The loading and unloading robot according to claim 5, characterized in that: A posture adjustment mechanism (7) for changing the orientation of the container loading and unloading device is provided between the container loading and unloading device and the telescopic conveying mechanism (5). The posture adjustment mechanism (7) includes a steering posture drive (73), a steering posture connector (74), a pitch posture drive (71), and a pitch posture connector (72). The steering posture connector (74) is hinged to the telescopic conveying mechanism (5) in the left-right direction. The pitch posture connector (72) is hinged to the steering posture connector (74) in the up-down direction. The pitch posture connector (72) is fixedly connected to the container loading and unloading device. The steering posture drive (73) is driven to the steering posture connector (74). The pitch posture drive (71) is driven to the pitch posture connector (72).

7. The loading and unloading robot according to claim 5, characterized in that: The transport vehicle (6) is connected to a lifting mechanism (8). One end of the telescopic conveying mechanism (5) is hinged to the transport vehicle (6) in the pitch direction, and the other end of the telescopic conveying mechanism (5) is hinged to the output end of the lifting mechanism (8).

8. The loading and unloading robot according to claim 5, characterized in that: The telescopic conveying mechanism (5) is connected to a visual recognition system (9) for acquiring image information of the container in the loading space.

9. The loading and unloading robot according to claim 5, characterized in that: The telescopic conveying mechanism (5) includes a first frame (51), which is connected to a lifting drive assembly (54). The output end of the lifting drive assembly (54) is connected to a first conveyor belt assembly (55) to drive the first conveyor belt assembly (55) to lift. The first frame (51) is movably connected to a second frame (52), which is connected to a second conveyor belt assembly (56). The second frame (52) is connected to a movement drive assembly to drive the second conveyor belt assembly (56) to move toward or away from the first conveyor belt assembly (55).

10. The loading and unloading robot according to claim 9, characterized in that: The telescopic conveying mechanism (5) further includes a third frame (53) and a third conveyor belt assembly (57). The third frame (53) is movably connected to the second frame (52). The third conveyor belt assembly (57) includes a plurality of movable belt rollers (571), a plurality of fixed belt rollers (572), and a third belt body (573). The movable belt rollers (571) are rotatably connected to the third frame (53), and the fixed belt rollers (572) are rotatably connected to the second frame (52). The third belt body (573) is sleeved on the movable belt rollers (571) and the fixed belt rollers (572). The third frame (53) can drive the movable belt rollers (571) to move relative to the fixed belt rollers (572) to change the working surface length of the third belt body (573).

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