Telescopic roller line and loading and unloading system

Abstract

Provided in the present disclosure are a telescopic roller line and a loading and unloading system. The telescopic roller line comprises: a series of telescopic roller units, each roller unit comprising at least one roller for supporting and conveying a material; a driving mechanism, which is configured to drive the rollers to rotate, so as to realize the conveying of the material; and support rods, which are arranged between adjacent rollers and are configured to support and convey the material in cooperation with the rollers. In the present disclosure, a series of telescopic roller units are provided, each roller unit comprises at least one roller for supporting and conveying a material, the rollers are driven to rotate by the driving mechanism to realize the conveying of the material, and the support rods are arranged between the adjacent rollers and are configured to support and convey the material in cooperation with the rollers, thereby preventing the material of a small size from being trapped between adjacent rollers due to an increase in the distance between two adjacent rollers when the telescopic roller line is stretched, and improving the conveying efficiency of the material.

Description

Telescopic roller line and loading and unloading system TECHNICAL FIELD

[0001] The present disclosure relates to a logistics robot, in particular, to a telescopic roller line and loading and unloading system. BACKGROUND

[0002] The telescopic roller line is an automatic logistics equipment, mainly used for material conveying and storage in warehouses, factories, distribution centers and other places. It is composed of a series of rollers, which can be powered rollers or unpowered rollers, and can be telescopic to adapt to different lengths of material conveying requirements.

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

[0004] Intelligent robots are intelligent devices equipped with sensors, lenses and electronic optical systems, which can quickly sort and transport goods.

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

[0006] In order to expand the application scenarios and application range of intelligent robots, the prior art installs intelligent robots on a mobile base to manufacture a mobile robot, so as to realize the movement of the intelligent robot to realize mobile unstacking and mobile picking functions.

[0007] One of the core links of warehouse logistics and factory logistics is to place materials on the telescopic roller line by the mobile robot, and the telescopic roller line conveys the materials. However, when the telescopic roller line is stretched, the distance between adjacent rollers will be too large, causing small-volume materials to be trapped between adjacent rollers, reducing the conveying efficiency. SUMMARY

[0008] The purpose of the present disclosure is to provide a telescopic roller line and loading and unloading system.

[0009] The telescopic roller line provided by the present disclosure comprises:

[0010] A series of telescopic roller units, each roller unit comprising at least one roller for supporting and conveying materials;

[0011] A driving mechanism for driving the rollers to rotate to realize the conveying of materials;

[0012] Supporting rods are arranged between adjacent rollers to support and convey the material.

[0013] According to one embodiment of the present application, the shearing fork plate assembly further comprises:

[0014] The shearing fork plate assembly is arranged on both sides of the roller unit.

[0015] The shearing fork plate assembly comprises a plurality of first shearing fork plates arranged in parallel and a plurality of second shearing fork plates arranged in parallel.

[0016] Each roller is hingedly connected to the upper end of the corresponding first shearing fork plate and second shearing fork plate, and the first shearing fork plate and the second shearing fork plate are alternately connected.

[0017] According to one embodiment of the present application, the middle section of the first shearing fork plate is hingedly connected to the middle section of the corresponding second shearing fork plate; the upper end of the first shearing fork plate is hingedly connected to the top end of the previous second shearing fork plate, and the lower end is hingedly connected to the bottom end of the next second shearing fork plate.

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

[0019] According to one embodiment of the present application, one end of the supporting rod is hingedly connected to the first shearing fork plate on one side of the roller unit through a first connecting piece and to the second shearing fork plate on one side of the roller unit through a second connecting piece.

[0020] The other end of the supporting rod is hingedly connected to the first shearing fork plate on the other side of the roller unit through a third connecting piece and to the second shearing fork plate on the other side of the roller unit through a fourth connecting piece.

[0021] According to one embodiment of the present application, when the shearing fork plate assembly is stretched, the distance between adjacent rollers increases.

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

[0023] According to one embodiment of the present application, the two ends of each roller are provided with limiting stop edges.

[0024] The top end of the limiting stop edge extends a transverse stop edge in the extension direction of the roller unit.

[0025] The two ends of the transverse stop edge are respectively provided with a stop roller.

[0026] According to one embodiment of the present application, two adjacent limiting edges have different heights, and the transverse edges are staggered in the width direction.

[0027] When the drum unit is compressed, one of the transverse edges adjacent to another transverse edge is retracted to the lower side of the other transverse edge.

[0028] According to one embodiment of the present application, a plurality of adjacent limiting edges form a limiting edge group.

[0029] In a limiting edge group, each limiting edge has a different height.

[0030] When the drum unit is compressed, one of the transverse edges adjacent to another transverse edge is retracted to the lower side of the other transverse edge.

[0031] The present disclosure provides a loading and unloading system, which comprises the telescopic drum line, the mobile loading and unloading vehicle, and the mobile robot.

[0032] The mobile loading and unloading vehicle is used to place the materials to be unloaded on the vehicle-mounted conveying mechanism or the telescopic drum line.

[0033] The telescopic drum line is connected to the front end of the mobile loading and unloading vehicle and the rear end of the mobile robot, and is used to convey the materials to the working range of the mobile robot.

[0034] The material pallets are arranged on both sides of the mobile robot.

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

[0036] According to one embodiment of the present application, the front end of the mobile robot is connected to the material conveying table.

[0037] The front end of the material conveying table is connected to the rear end of the telescopic drum line.

[0038] The material conveying table is used to arrange the materials conveyed by the telescopic drum line to form a material assembly for one-time grabbing by the mobile robot.

[0039] According to one embodiment of the present application, the material conveying table comprises:

[0040] The material conveying table comprises a material conveying line body for conveying the materials.

[0041] The edge returning baffle is arranged on the material conveying line body and is used to place the materials to slide off.

[0042] The push plate is arranged on the material conveying line body and is arranged opposite to the edge returning baffle, and is used to push the materials to be close to the edge returning baffle.

[0043] A push plate driving mechanism is configured to drive the push plate to move relative to the edge guide to push the material close to the edge guide.

[0044] According to an embodiment of the present application, the mobile loading and unloading vehicle comprises:

[0045] A first mobile base is configured to move to any position or pause at any position and determine an orientation angle according to a received control instruction.

[0046] A vehicle-mounted conveying mechanism is arranged on the first mobile base and extends from the front end of the first mobile base to the rear end of the first mobile base, and is configured to convey the material.

[0047] A first mechanical arm is arranged on the first mobile base and is configured to place the material on the vehicle-mounted conveying mechanism or grasp the material on the vehicle-mounted conveying mechanism for loading operation.

[0048] The front end of the telescopic roller line is connected to the rear end of the first mobile base and is opposite to the vehicle-mounted conveying mechanism to realize the conveying of the material from the vehicle-mounted conveying mechanism to the material conveying mechanism.

[0049] According to an embodiment of the present application, the mobile robot comprises:

[0050] A second mobile base is configured to move to any position or pause at any position and determine an orientation angle according to a received control instruction.

[0051] A second mechanical arm is arranged on the second mobile base and is configured to continuously grasp the material assembly on the material sorting line body and perform stacking.

[0052] The end of the second mechanical arm is provided with a bottom supporting clamp.

[0053] Compared with the prior art, the present application has the following beneficial effects:

[0054] In the present application, a series of telescopic roller units are arranged, each roller unit comprising at least one roller for supporting and conveying the material, the roller is driven to rotate by a driving mechanism to realize the conveying of the material, and a supporting rod is arranged between adjacent rollers to support and convey the material in cooperation with the rollers, thereby avoiding the distance between adjacent two rollers becoming larger when the telescopic roller line is stretched, which causes small-volume material to be trapped between adjacent rollers, and improving the conveying efficiency of the material. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to make the technical solutions in the embodiments of the present disclosure or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects and advantages of the present disclosure will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0056] Fig. 1 is a structural schematic diagram of a telescopic roller line in an embodiment of the present disclosure;

[0057] Fig. 2 is a working state schematic diagram of the telescopic roller line in an embodiment of the present disclosure;

[0058] Fig. 3 is a schematic diagram of the cooperation relationship between a roller and a supporting rod in an embodiment of the present disclosure;

[0059] Fig. 4 is a structural schematic diagram of a shearing fork plate assembly in an embodiment of the present disclosure;

[0060] Fig. 5 is a structural schematic diagram of a telescopic roller line in a modified example of the present disclosure;

[0061] Fig. 6 is a structural schematic diagram of a loading and unloading system in an embodiment of the present disclosure;

[0062] Fig. 7 is a structural schematic diagram of a mobile loading and unloading vehicle in an embodiment of the present disclosure;

[0063] Fig. 8 is a structural schematic diagram of a material arranging and conveying table in an embodiment of the present disclosure;

[0064] Fig. 9 is a structural schematic diagram of a mobile robot in an embodiment of the present disclosure; and

[0065] Fig. 10 is a structural schematic diagram of a bottom supporting clamp in an embodiment of the present disclosure.

[0066] In the figure: 1 is a telescopic roller line; 101 is a roller unit; 1011 is a roller; 102 is a support rod; 103 is a limiting baffle; 1031 is a baffle roller; 1032 is a transverse baffle; 104 is a support leg; 105 is a first scissor plate; 106 is a second scissor plate; 107 is a first connecting plate; 108 is a second connecting plate; 109 is a third connecting plate; 110 is a fourth connecting plate; 2 is a mobile robot; 201 is a second mobile base; 2031 is a bottom supporting mechanism; 2032 is a suction cup array; 2033 is a suction cup; 2034 is a conveyor belt; 202 is a second mechanical arm; 203 is a bottom supporting clamp; 3 is a mobile loading and unloading vehicle; 301 is a first mobile base; 302 is a first mechanical arm; 4 is a container; 5 is a vehicle-mounted conveying mechanism; 6 is a material tray; 7 is a safety fence; 8 is a material sorting conveying table; 801 is a material sorting line main body; 802 is an edge returning baffle; 803 is a push plate; 804 is a edge pushing mechanism; 9 is a front conveying mechanism; 10 is a camera support rod; 10 is a second safety radar. DETAILED DESCRIPTION

[0067] The present disclosure will be described in detail below with specific reference being made to the drawings. The following examples serve to further illustrate the present disclosure and are not to be construed as limiting the same in any manner. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the spirit of the present disclosure. These are all within the scope of the present disclosure.

[0068] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present disclosure, and above mentioned drawings, if any, are used to distinguish between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the use of these terms here is not meant to limit the scope of the present disclosure to the specific examples described herein, but rather the scope of the present disclosure encompasses any of the examples illustrated and described herein, and also includes those not specifically illustrated and described herein. Moreover, the terms "comprise" and "have", and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or apparatus that comprises a list of steps or units is not necessarily limited to those steps or units that are clearly listed, but can include other steps or units not clearly listed or inherent to such process, method, product or apparatus.

[0069] The technical solutions of the present disclosure will be described in detail below with specific examples. The following specific examples can be combined with each other, and some examples may not be described in detail for the same or similar concepts or processes.

[0070] The technical solutions of the present disclosure and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described again in some examples. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0071] Fig. 1 is a schematic diagram of the structure of the telescopic roller line in the embodiment of the present disclosure, and Fig. 2 is a schematic diagram of the working state of the telescopic roller line in the embodiment of the present disclosure. As shown in Fig. 1 and Fig. 2, the telescopic roller line 1 provided by the present disclosure comprises:

[0072] a series of telescopic roller units 101, each roller unit 101 comprising at least one roller 1011 for supporting and conveying materials;

[0073] a driving mechanism 104 for driving the rotation of the roller 1011 to realize the conveying of materials;

[0074] a support rod 102 arranged between adjacent rollers 1011 for supporting and conveying the materials in cooperation with the rollers 1011;

[0075] a scissor plate assembly arranged on both sides of the roller unit 101;

[0076] The scissor plate assembly comprises a plurality of first scissor plates 105 arranged in parallel and a plurality of second scissor plates 106 arranged in parallel.

[0077] Each roller 1011 is hinged to the upper end of the corresponding first scissor plate 105 and second scissor plate 106 at the same time, and the first scissor plate 105 and the second scissor plate 106 are connected in pairs.

[0078] When the scissor plate assembly is stretched, the distance between adjacent rollers 1011 increases. The angle between the first scissor plate 105 and the second scissor plate 106 connected in pairs becomes larger.

[0079] In the embodiment of the present disclosure, the driving mechanism 104 can adopt a driving motor to drive the roller 1011 in cooperation with a belt and a belt pulley.

[0080] The limiting flange 103 is arranged on both sides of the roller unit 101 to prevent the falling of materials such as boxes on the roller unit 101.

[0081] Fig. 3 is a schematic diagram of the cooperation relationship between the roller and the support rod in the embodiment of the present disclosure. As shown in Fig. 3, the support rod 102 is located at the middle position between adjacent two rollers 1011 to support the middle region between adjacent rollers 1011.

[0082] Fig. 4 is a structural schematic diagram of the scissor plate assembly in the embodiment of the present disclosure. As shown in Fig. 4, the middle section of the first scissor plate 105 is hinged to the middle section of the corresponding second scissor plate 106; the upper end of the first scissor plate 105 is hinged to the top end of the previous second scissor plate 106, and the lower end is hinged to the bottom end of the next second scissor plate 106.

[0083] The middle section of the second scissor plate 106 is hinged to the middle section of the corresponding first scissor plate 105; the upper end of the second scissor plate 106 is hinged to the top end of the next first scissor plate 105, and the lower end is hinged to the bottom end of the previous first scissor plate 105.

[0084] One end of the support rod 102 is hinged to the first scissor plate 105 located on one side of the roller unit 101 through the first connecting sheet 107, and hinged to the second scissor plate 106 located on one side of the roller unit 101 through the second connecting sheet 108.

[0085] The other end of the support rod 102 is hinged to the first scissor plate 105 located on the other side of the roller unit 101 through the third connecting sheet 109, and hinged to the second scissor plate 106 located on the other side of the roller unit 101 through the fourth connecting sheet 110.

[0086] In the embodiment of the present disclosure, the two ends of each roller 1011 are provided with a limiting stop edge 103.

[0087] The top end of the limiting stop edge 103 extends out a transverse stop edge 1032 along the extension direction of the roller unit 101.

[0088] The two ends of the transverse stop edge 1032 are respectively provided with a stop edge roller 1031.

[0089] The adjacent two limiting stop edges 103 have different heights, and the transverse stop edge 1032 has a width direction offset.

[0090] When the roller unit 101 is compressed, one of the adjacent limiting stop edges 103 is contracted to the lower side of the other limiting stop edge 103.

[0091] The roller unit 101 is provided with multiple support legs, which can facilitate the movement of the roller unit 101 and the extension and contraction of the roller unit 101.

[0092] Fig. 5 is a structural schematic diagram of the telescopic roller line in the variant of the present disclosure. As shown in Fig. 5, the adjacent multiple limiting stop edges 103 form a limiting stop edge group.

[0093] In a limiting stop edge group, each limiting stop edge 103 has a different height.

[0094] When the roller unit 101 is compressed, the adjacent one of the limiting edge group is retracted to the lower side of the other limiting edge.

[0095] In the embodiment of the present disclosure, the limiting edge group includes four limiting edges 103, the heights of the four limiting edges 103 are sequentially increased, and when the roller unit 101 is compressed, the later one of the limiting edge group is retracted to the lower side of the former one.

[0096] FIG. 6 is a structural schematic diagram of the loading and unloading system in the embodiment of the present disclosure. As shown in FIG. 6, the unloading system based on the mobile robot provided by the present disclosure includes a mobile loading and unloading vehicle 3, a material pallet 6, a telescopic roller line 1, and a mobile robot 2.

[0097] The mobile loading and unloading vehicle 3 is used to place the material to be unloaded on the vehicle-mounted conveying mechanism 5 or the telescopic roller line 1.

[0098] The telescopic roller line 1 is connected to the mobile loading and unloading vehicle 3 at the front end and connected to the mobile robot 2 at the rear end, and is used to convey the material to the working range of the mobile robot 2.

[0099] The mobile robot 2 is used to stack the material conveyed by the telescopic roller line 1 on the material pallet 6.

[0100] The material pallet 6 is arranged on both sides of the mobile robot 1.

[0101] In the embodiment of the present disclosure, a plurality of material pallets 6 are sequentially arranged to form a pallet array, and a moving channel is formed between the two pallet arrays; the moving channel is used for the movement of the mobile loading and unloading vehicle 3 during the movement of loading; and the mobile loading and unloading vehicle 3 moves along the moving channel to sequentially stack the material on the telescopic roller line 1 on the material pallet 6.

[0102] In the embodiment of the present disclosure, the length ratio between the stretched state of the telescopic roller line 1 and the compressed state of the telescopic roller line 1 is between 2 and 3, and preferably 2.5.

[0103] The material is a target box.

[0104] In the embodiment of the present disclosure, an inclined roller is arranged on the telescopic roller line 1. Through the arrangement of the inclined roller, the target box on the telescopic roller line 1 can be aligned, the target box is aligned to a material sorting table, and a camera unit arranged on the material sorting table collects the image of the target box on the material sorting table, and further controls the mobile robot 2 to grasp and place the target box after alignment.

[0105] As shown in FIG. 6, the front end of the mobile robot 2 is connected with a material sorting and conveying table 8;

[0106] The rear end of the material sorting and conveying table 8 is connected with the front end of the telescopic cylinder line 1.

[0107] The material sorting and conveying table 8 is used to sort the materials conveyed by the telescopic cylinder line 1 to form a material combination for the mobile robot 2 to grasp at one time.

[0108] FIG. 8 is a structural schematic diagram of the material sorting and conveying table in the embodiment of the present disclosure. As shown in FIG. 8, in the embodiment of the present disclosure, the material sorting and conveying table 8 comprises:

[0109] A material sorting line body 801 is used for conveying the materials.

[0110] An edge returning baffle 802 is arranged on the material sorting line body 801 and is used for placing the materials to slide off.

[0111] A push plate 803 is arranged on the material sorting line body 801 and is arranged opposite to the edge returning baffle 802 and is used for pushing the materials to be close to the edge returning baffle 402.

[0112] A push plate driving mechanism is used for driving the push plate 403 to move relative to the edge returning baffle 802 to push the materials to be close to the edge returning baffle 802.

[0113] A pushing edge mechanism 804 is arranged at the feeding port of the material sorting line body 801.

[0114] The pushing edge mechanism 804 is used for guiding the target box flowing into the material sorting line body 801 to move to the other side edge of the material sorting line body 801.

[0115] In addition, when the materials in the target box do not need to be sorted, the electric cylinder drives the guide plate to move away from the upper side of the telescopic conveyor 100 to run the target box directly.

[0116] The pushing edge mechanism 804 comprises a telescopic mechanism and a front pushing frame; the front pushing frame is arranged at the front end of the telescopic mechanism; the rear end of the telescopic mechanism is connected with the material sorting line body 801 through a fixed frame.

[0117] A first sensor is arranged on the fixed frame; the first sensor is used for triggering the pushing edge mechanism; when the first sensor detects the target box, the pushing edge mechanism performs the pushing edge operation on the target box.

[0118] The second sensor is arranged at the discharging end of the sorting line body 801, and is used to trigger the sorting action of the sorting conveying line. When the second sensor detects the target box, the push plate driving mechanism pushes the push plate to push the target box to perform the sorting operation.

[0119] Fig. 7 is a structural schematic diagram of the mobile loading and unloading vehicle in the embodiment of the present disclosure. As shown in Fig. 7, the mobile loading and unloading vehicle comprises:

[0120] The first mobile base 301 is used to move to an arbitrary position or pause at an arbitrary position and determine the orientation angle according to the received control instruction;

[0121] The vehicle-mounted conveying mechanism 5 is arranged on the first mobile base 301 and extends from the front end of the first mobile base 301 to the rear end of the first mobile base 301, and is used for conveying materials;

[0122] The first mechanical arm 302 is arranged on the first mobile base 301 and is used to place materials on the vehicle-mounted conveying mechanism 5 or perform loading operation by grabbing the materials on the vehicle-mounted conveying mechanism 5.

[0123] The material conveying mechanism is connected to the rear end of the first mobile base and is opposite to the vehicle-mounted conveying mechanism to realize the conveying of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism;

[0124] In the embodiment of the present disclosure, the material conveying mechanism adopts the telescopic roller line 1;

[0125] The first mechanical arm can rotate by 90° to place the materials on the vehicle-mounted conveying mechanism when side suction is performed on the target box, or rotate by 180° to place the materials on the material conveying mechanism when side suction is performed.

[0126] Preferably, the target box is side suctioned or top suctioned and then rotated by 90° to place the materials on the vehicle-mounted conveying mechanism, and the materials are conveyed from the vehicle-mounted conveying mechanism to the material conveying mechanism, so as to improve the unloading efficiency of the materials;

[0127] When there is a requirement for the placement angle of the materials, the materials can be rotated by 180° to be placed on the material conveying mechanism.

[0128] In the embodiment of the present disclosure, the vehicle-mounted conveying mechanism 5 comprises a first vehicle-mounted conveying section and a second vehicle-mounted conveying section;

[0129] An S-shaped structure is formed between the first vehicle-mounted conveying section and the second vehicle-mounted conveying section;

[0130] The first vehicle-mounted conveying section and the second vehicle-mounted conveying section cooperate to realize S-shaped route conveying of the conveyed material to the material conveying mechanism.

[0131] The first vehicle-mounted conveying section comprises a plurality of first rollers arranged in sequence; the diameter of the first roller gradually increases in the direction from the inner end of the first roller to the outer end of the first roller;

[0132] The second vehicle-mounted conveying section comprises a plurality of second rollers arranged in sequence; the diameter of the second roller gradually decreases in the direction from the inner end of the second roller to the outer end of the second roller.

[0133] The mobile loading and unloading vehicle 3 comprises:

[0134] A first mobile base 301 is configured to move to any position or pause at any position and determine the orientation angle according to the received control instruction;

[0135] A first mechanical arm 302 is arranged on the first mobile base 301 and is configured to continuously grasp and place the material on the material tray 6 onto the telescopic roller line 1;

[0136] A first visual perception module is arranged at the end of the first mechanical arm 302 and is configured to collect image information of the material on the material tray 6.

[0137] FIG. 9 is a structural schematic diagram of a mobile robot in an embodiment of the present disclosure, as shown in FIG. 9, the mobile robot 2 comprises:

[0138] A second mobile base 201 is configured to move to any position or pause at any position and determine the orientation angle according to the received control instruction;

[0139] A second mechanical arm 202 is arranged on the second mobile base 201 and is configured to continuously grasp and stack the material combination on the material sorting line body 401;

[0140] The end of the second mechanical arm 202 is provided with a bottom supporting clamp 203, and FIG. 10 is a structural schematic diagram of a bottom supporting clamp in an embodiment of the present disclosure, as shown in FIG. 10, the bottom supporting clamp comprises:

[0141] A clamp body;

[0142] A suction cup support is provided with the suction cup array 2032 for sucking the target box, and the suction cup support is arranged on one side surface of the clamp body and can move in a first direction; the suction cup array 2032 is provided with a plurality of suction cups 2033 arranged in a matrix.

[0143] The bottom supporting mechanism 2031 is arranged on the clamp body and is movable in a second direction opposite to the first direction;

[0144] The driving module is connected with the suction cup support and the bottom supporting mechanism 2031 through a driving transmission mechanism, and is used for driving the suction cup support and the bottom supporting mechanism 2031 to move reversely at the same time.

[0145] In the embodiment of the present disclosure, the driving transmission mechanism comprises a driving wheel, a driven wheel and a transmission belt 2034.

[0146] The driving wheel is arranged on an output shaft of the driving module.

[0147] The driven wheel is arranged at the front end of the clamp body, and the driving wheel is connected with the driven wheel through the transmission belt.

[0148] The suction cup support is connected with one side of the transmission belt 2034, and the bottom supporting mechanism 2031 is connected with the other side of the transmission belt 2034, so as to realize the reverse linkage between the suction cup support and the bottom supporting mechanism 2031.

[0149] In the embodiment of the present disclosure, the driving module is connected with the driving wheel through a speed reducer, so as to drive the driving wheel to rotate; the driven wheel is arranged at the middle region of the connecting cross bar at the front end of the clamp body, the driven wheel is connected with the connecting cross bar through a synchronous wheel mounting plate, four supporting rods are arranged on the synchronous wheel mounting plate, and a synchronous wheel cover plate is arranged at the top end of the supporting rods, the synchronous wheel cover plate and the four supporting rods form a protective cover of the driven wheel.

[0150] In the embodiment of the present disclosure, a series of telescopic roller units are arranged, each roller unit comprises at least one roller for supporting and conveying materials, the roller is driven to rotate by a driving mechanism to realize the conveying of the materials, and a supporting rod is arranged between adjacent rollers to support and convey the materials in cooperation with the rollers, so as to avoid that when the telescopic roller line is stretched, the distance between the adjacent two rollers becomes larger, small materials are trapped between the adjacent rollers, and the conveying efficiency of the materials is improved.

[0151] The first mobile base moves to any position or pauses at any position according to the received control instructions and determines the orientation angle. The vehicle-mounted conveying mechanism is arranged on the first mobile base and extends from the front end of the first mobile base to the rear end of the first mobile base for conveying materials. The front end of the material conveying mechanism is connected to the rear end of the first mobile base and is opposite to the vehicle-mounted conveying mechanism to realize the conveying of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism. The first mechanical arm is arranged on the first mobile base and can side-suck or top-suck the materials, rotate the materials by 90° and place the materials on the vehicle-mounted conveying mechanism, and then transmit the materials to the material conveying mechanism to improve the unloading efficiency of the materials. When there is a requirement for the placement angle of the materials, the first mechanical arm can side-suck the materials, rotate the materials by 180° and place the materials on the material conveying mechanism.

[0152] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present disclosure. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0153] The specific embodiments of the present disclosure are described above. It should be understood that the present disclosure is not limited to the specific embodiments described above, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present disclosure.

Claims

1. A telescopic roller conveyor, comprising: A series of retractable roller units, each roller unit including at least one roller for supporting and conveying materials; A drive mechanism is used to drive the roller to rotate in order to convey materials; Support rods are disposed between adjacent rollers to cooperate with the rollers in supporting and conveying the material.

2. The telescopic roller conveyor according to claim 1, further comprising: Scissor lift assembly; The scissor plate assembly is disposed on both sides of the roller unit; The scissor plate assembly includes a plurality of first scissor plates arranged in parallel and a plurality of second scissor plates arranged in parallel. Each roller is simultaneously hinged to the upper end of the corresponding first scissor plate and second scissor plate, with the first scissor plate and the second scissor plate being cross-connected in pairs.

3. The telescopic roller conveyor according to claim 2, wherein, The middle section of the first scissor plate is hinged to the middle section of the corresponding second scissor plate; the upper end of the first scissor plate is hinged to the top of the preceding second scissor plate, and the lower end is hinged to the bottom of the following second scissor plate. The middle section of the second scissor plate is hinged to the middle section of the corresponding first scissor plate; the upper end of the second scissor plate is hinged to the top of the next first scissor plate, and the lower end is hinged to the bottom of the previous first scissor plate.

4. The telescopic roller conveyor according to claim 3, wherein, One end of the support rod is hinged to a first scissor plate located on one side of the roller unit via a first connecting piece, and to a second scissor plate located on one side of the roller unit via a second connecting piece; The other end of the support rod is hinged to the first scissor plate located on the other side of the roller unit via a third connecting piece, and to the second scissor plate located on the other side of the roller unit via a fourth connecting piece.

5. The telescopic roller conveyor according to claim 2, wherein, When the scissor lift assembly is stretched, the distance between adjacent rollers increases; The support rod is located in the middle between two adjacent rollers to support the middle area between the adjacent rollers.

6. The telescopic roller conveyor according to claim 1, wherein, Each of the rollers is provided with limit stops at both ends; The top of the limiting stop extends into a transverse stop along the extending direction of the roller unit; A side-stop roller is provided at each end of the transverse side-stop.

7. The telescopic roller conveyor according to claim 6, wherein, The two adjacent limiting stops have different heights; When the roller unit is compressed, an adjacent transverse flange retracts to the underside of the other transverse flange.

8. The telescopic roller conveyor according to claim 6, wherein, Adjacent limit stops form a limit stop group; In a set of limiting stops, each limiting stop has a different height; When the roller unit is compressed, one of the adjacent transverse flanges in the limiting flange group retracts to the underside of the other transverse flange.

9. A loading and unloading system, comprising: Telescopic roller conveyors, mobile loading and unloading vehicles, material pallets, and mobile robots; Mobile loading and unloading vehicle, used to place materials to be unloaded on its on-board conveyor or the telescopic roller line; The telescopic roller conveyor is connected to the mobile loading and unloading vehicle at its front end and to the mobile robot at its rear end, and is used to transport materials to the working range of the mobile robot. Material trays are positioned on both sides of the mobile robot; A mobile robot is used to stack the materials delivered by the telescopic roller conveyor onto the material pallet.

10. The loading and unloading system according to claim 9, wherein, The front end of the mobile robot is connected to a material handling conveyor. The front end of the material handling conveyor is connected to the rear end of the telescopic roller conveyor. The material handling conveyor is used to handle multiple materials conveyed by the telescopic roller conveyor to form a material assembly for a mobile robot to grasp in one go.

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