Loading and unloading system, and loading and unloading method

Abstract

A loading and unloading system and a loading and unloading method. The loading and unloading system comprises: a support assembly comprising a support beam; and a plurality of fork assemblies, wherein the fork assemblies are arranged on the support beam, moving mechanisms used for moving the fork assemblies along the support beam in a transverse direction are provided on the fork assemblies, and each fork assembly is provided with a rotating mechanism used for changing the direction of a fork opening of the fork assembly. The plurality of fork assemblies include a first fork assembly and a second fork assembly; the loading and unloading system has a first state and a second state; the moving mechanisms and the rotating mechanisms are used for switching the loading and unloading system between the first state and the second state; in the first state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged opposite to each other; and in the second state, the first fork assembly and the second fork assembly are arranged side by side and the fork openings thereof face the same direction. In the loading and unloading system of the present application, by means of the movement and rotation of the first fork assembly and the second fork assembly, the compatibility and switching between a side material loading state and a rear material loading state can be realized.

Description

Loading and unloading system and method TECHNICAL FIELD

[0001] The present application belongs to the field of material loading and unloading, and more particularly relates to a loading and unloading system and method. BACKGROUND

[0002] At present, most factories adopt manual loading and unloading, that is, workers manually load and unload materials from the warehouse outlet to the truck. Some factories use simple fork loading machines. The fork loading machine forks the materials through the fork of the fork rod to realize the loading and unloading of the materials. However, the existing fork loading machine usually has only a single loading and unloading mode, which is difficult to meet the diverse loading requirements. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a loading and unloading system and method to solve the technical problem of single loading and unloading mode in the prior art.

[0004] To achieve the above purpose, the technical solution adopted by the present application is to provide a loading and unloading system, which comprises a support assembly having a support beam;

[0005] A plurality of fork assemblies are arranged on the support beam. The fork assembly is provided with a moving mechanism for moving the fork assembly along the transverse support. The fork assembly is provided with a rotating mechanism for rotating the fork direction of the fork assembly.

[0006] Among them, the plurality of fork assemblies include a first fork assembly and a second fork assembly. The loading and unloading system has a first state and a second state. The moving mechanism and the rotating mechanism are used to switch the loading and unloading system between the first state and the second state.

[0007] In the first state, the fork of the first fork assembly and the fork of the second fork assembly are arranged oppositely. In the second state, the fork of the first fork assembly and the fork of the second fork assembly are arranged side by side and the forks are directed to the same direction.

[0008] Optionally, the moving mechanism includes a moving drive, a first gear and a first rack. The first rack is arranged on the support beam. The first gear is arranged on the fork assembly and engaged with the first rack. The moving drive is arranged on the fork assembly and in transmission connection with the first gear to drive the first gear to move along the first rack.

[0009] Optionally, the fork assembly includes a moving frame and a main body frame. The moving frame is connected to the support beam through the moving mechanism. The rotating mechanism includes a rotating drive and a slewing bearing. The slewing bearing is connected between the moving frame and the main body frame. The rotating drive is in transmission connection with the slewing bearing to drive the moving frame and the main body frame to rotate relatively.

[0010] Optionally, the fork assembly comprises a main frame, a fork rod frame, a fork rod, and a lifting mechanism for lifting the fork rod, the fork rod is arranged on the fork rod frame, the fork rod frame is movably connected with the main frame along the lifting direction of the fork rod, and the lifting mechanism comprises a lifting driving member connected between the main frame and the fork rod frame to drive the fork rod to move up and down.

[0011] Optionally, the fork assembly comprises a pressing top member and a pressing top driving member, the pressing top member is movably connected with the main frame along the pressing direction of the pressing top member, and the pressing top member is located above the fork rod, and the pressing top driving member is in transmission connection with the pressing top member to drive the pressing top member to move along the pressing direction.

[0012] Optionally, the fork assembly comprises a fork rod transverse driving member for driving the fork rod to move transversely, the fork rod and the fork rod frame are movably connected along the fork rod transverse direction, the fork rod transverse direction is perpendicular to the fork direction and perpendicular to the lifting direction, and the fork rod transverse driving member is in transmission connection with the fork rod to drive the fork rod to move along the fork rod transverse direction.

[0013] Optionally, an elastic buffering mechanism is arranged between the fork rod transverse driving member and the fork rod to provide elastic buffering for the lateral movement of the fork rod.

[0014] Optionally, the buffering mechanism comprises a spring, a guide rod, a guide rod seat, and a guide seat, the guide rod is connected to the guide rod seat, the guide seat is provided with a guide hole, the guide rod is inserted into the guide hole, the spring is sleeved on the guide rod and located between the guide rod seat and the guide seat, the guide rod seat is connected to the fork rod transverse driving member, and the guide seat is connected to the fork rod.

[0015] Optionally, the loading and unloading system further comprises a walking mechanism for driving the support assembly to walk, the walking mechanism comprises a walking driving member, a walking wheel, and a walking track, the walking track is arranged along the walking direction of the support assembly, the walking wheel is arranged at the bottom of the support assembly and is in rolling connection with the walking track, and the walking driving member is arranged on the support assembly and is in transmission connection with the walking wheel to drive the walking wheel to move along the walking track.

[0016] Optionally, the loading and unloading system further comprises a walking mechanism for driving the support assembly to walk and a rain cloth covering mechanism for covering the rain cloth on the loading vehicle, the rain cloth covering assembly comprises a rain cloth and a rain cloth lifting roller, the rain cloth lifting roller is located at one end of the walking direction of the support assembly, one end of the rain cloth is connected with the support assembly, and the other end passes through the rain cloth lifting roller.

[0017] The application provides a loading and unloading method, the loading and unloading method is performed by the loading and unloading system, and the loading and unloading method comprises the following steps: switching the loading and unloading system to a first state, moving the first fork assembly and the second fork assembly to the two sides of the material in the first state, and moving the first fork assembly and the second fork assembly towards each other to fork the material to load and unload the material.

[0018] Or switching the loading and unloading system to a second state, in the second state, moving the first fork assembly and the second fork assembly to one side of the material synchronously, and then moving the first fork assembly and the second fork assembly towards the material synchronously to fork the material, and carrying out loading and unloading of the material.

[0019] Optionally, the loading and unloading method further comprises: in the first state, after forking the material, moving the first fork assembly and / or the second fork assembly to form a first gap between the material on the first fork assembly and the material on the second fork assembly, the first gap being used to prevent the first fork assembly and the second fork assembly from rotating interfering with each other;

[0020] Independently adjusting the material on the first fork assembly and the material on the second fork assembly respectively;

[0021] Moving the first fork assembly and / or the second fork assembly to align the material on the first fork assembly and the material on the second fork assembly with each other;

[0022] Synchronously moving the first fork assembly and the second fork assembly to move the material to a first target position for placement;

[0023] Or, in the first state, after forking the material, rotating the first fork assembly and the second fork assembly by an angle a in a first direction, moving the first fork assembly by a distance L in a second direction, and moving the second fork assembly by a distance L in the opposite direction of the second direction, and keeping L = 0.5L1*sin a during the movement of the first fork assembly and the second fork assembly, so that the material on the first fork assembly and the material on the second fork assembly rotate by an angle a around the center of the material, wherein L1 represents the distance between the rotation center of the first fork assembly and the rotation center of the second fork assembly;

[0024] Synchronously moving the first fork assembly and the second fork assembly to move the material to a second target position for placement;

[0025] Or, in the second state, after forking the material, moving the first fork assembly and / or the second fork assembly to form a second gap between the material on the first fork assembly and the material on the second fork assembly, the second gap being used to prevent the first fork assembly and the second fork assembly from rotating interfering with each other;

[0026] Rotating the first fork assembly and the second fork assembly by an angle b in a third direction;

[0027] Aligning the material on the first fork assembly and the material on the second fork assembly, and forming a misalignment between the material on the first fork assembly and the material on the second fork assembly;

[0028] Synchronously moving the first fork assembly and the second fork assembly to move the material to a third target position;

[0029] Move the first fork assembly and the second fork assembly respectively and place materials to eliminate the misalignment of materials on the first fork assembly and the second fork assembly.

[0030] The beneficial effects of the loading and unloading system and method provided in this application are as follows: Compared with the prior art, the loading and unloading system of this application can achieve compatibility and switching between two material loading states, namely a first state and a second state, through the movement and rotation of the first fork assembly and the second fork assembly. In the first state, the forks of the first fork assembly and the second fork assembly are arranged facing each other, realizing side loading of materials. In the second state, the forks of the first fork assembly and the second fork assembly are arranged side by side and the forks face the same direction, realizing tail loading of materials. Therefore, the loading and unloading system of this application can be compatible with both side loading and tail loading methods, overcoming the problem of the single loading and unloading method of the existing forklift loading machine. It can select the appropriate loading and unloading method according to the specific loading and unloading scenario, making the loading and unloading system have a wider range of applications. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 is an overall schematic diagram of the loading and unloading system in an embodiment of this application;

[0033] Figure 2 is a schematic diagram of the first state of the loading and unloading system in an embodiment of this application;

[0034] Figure 3 is a schematic diagram of the second state of the loading and unloading system in an embodiment of this application;

[0035] Figure 4 is a schematic diagram of the loading and unloading system in the first state in an embodiment of this application;

[0036] Figure 5 is a schematic diagram of the second state of loading and unloading of the loading and unloading system in an embodiment of this application;

[0037] Figure 6 is a schematic diagram of the moving mechanism and the rotating mechanism in the embodiments of this application;

[0038] Figure 7 is a schematic diagram of the lifting mechanism in an embodiment of this application;

[0039] Figure 8 is a schematic diagram of the fork lateral movement mechanism in an embodiment of this application;

[0040] Figure 9 is a schematic diagram of the elastic buffer mechanism in an embodiment of this application;

[0041] Fig. 10 is a schematic view of a support assembly in the embodiment of the present application;

[0042] Fig. 11 is a schematic view of a moving mechanism of a fork assembly in the embodiment of the present application;

[0043] Fig. 12 is a schematic view of a tarpaulin covering in the embodiment of the present application;

[0044] Fig. 13 is a schematic view of a material fine adjustment in the embodiment of the present application.

[0045] In the drawings, the reference signs: support assembly 1, support beam 11, support leg 12, walking mechanism 13, fork assembly 2, first fork assembly 21, second fork assembly 22, moving drive 231, first gear 232, first rack 233, moving frame 234, main body frame 241, lifting drive 242, rotary bearing 251, rotary drive 252, fork rod frame 261, fork rod 262, fork rod connecting rod 263, fork rod transverse movement drive 264, pressing top piece 271, pressing top drive 272, synchronous belt 273, tensioning and fixing assembly 274, elastic buffering mechanism 28, spring 281, guide rod 282, guide rod seat 283, guide seat 284, temporary storage conveyor 3, laser radar 4, vehicle 5, tarpaulin covering mechanism 6, tarpaulin 61, tarpaulin lifting roller 62, tarpaulin support roller 63, tarpaulin clamping beam 64, material 7. DETAILED DESCRIPTION

[0046] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer and more apparent, the present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0048] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0049] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" can include one or more of such features explicitly or implicitly. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise expressly and specifically limited.

[0050] Referring to FIGS. 1-5, the loading and unloading system provided by the embodiments of the present application will now be described. The loading and unloading system comprises a support assembly 1 having a support beam 11;

[0051] A plurality of fork assemblies 2 are arranged on the support beam 11, and each fork assembly 2 is provided with a moving mechanism for moving the fork assembly 2 along the transverse support, and a rotating mechanism for rotating the fork opening direction of the fork assembly 2;

[0052] The plurality of fork assemblies 2 include a first fork assembly 21 and a second fork assembly 22, and the loading and unloading system has a first state and a second state, and the moving mechanism and the rotating mechanism are used to switch the loading and unloading system between the first state and the second state;

[0053] In the first state, the fork openings of the first fork assembly 21 and the second fork assembly 22 are arranged facing each other, and in the second state, the fork openings of the first fork assembly 21 and the second fork assembly 22 are arranged side by side and the fork openings face the same direction.

[0054] The loading and unloading system in the embodiments can be used for loading of the material 7, unloading of the material 7, or moving the material 7 from one place to another, for example, loading the material 7 onto the vehicle 5, or unloading the material 7 from the vehicle 5. The support assembly 1 of the loading and unloading system is mainly used to support the fork assembly 2 so that it has a certain height to achieve the loading of the material 7. The support assembly 1 can be fixed or movable. The fixed support assembly 1 can be, for example, a fixed support beam 11 in a factory building, and the movable support assembly 1 can be, for example, a movable gantry frame, etc. In general, in order to facilitate the loading and unloading of the material 7, it is preferable to use a movable support assembly 1.

[0055] The support beam 11 in the support assembly 1 is used to mount the fork assembly 2, and the fork assembly 2 is used to fork the material 7. The specific structure of the fork assembly 2 can refer to a fork loader. The fork assembly 2 is provided with a moving mechanism for moving the fork assembly 2 along the transverse support, and a rotating mechanism for rotating the fork opening direction of the fork assembly 2, thereby achieving the movement and rotation of the fork assembly 2.

[0056] In the embodiment, the fork assembly 2 comprises a first fork assembly 21 and a second fork assembly 22, both of which have the functions of moving and rotating, and can not only adjust the position of the material 7 on the fork assembly 2, but also switch between the first state and the second state. Specifically, as shown in FIGS. 2 and 4, in the first state, the fork openings of the first fork assembly 21 and the second fork assembly 22 are oppositely arranged, in which state, the side loading of the material 7 can be realized, as shown in FIGS. 3 and 5, in the second state, the fork openings of the first fork assembly 21 and the second fork assembly 22 are arranged side by side and the fork openings face the same direction. The loading and unloading system of the embodiment is compatible with both side loading and tail loading, and can be switched to the appropriate state according to the specific loading and unloading scene. Taking the loading of the material 7 onto the vehicle 5 as an example, side loading can simultaneously satisfy the loading of different numbers of pallet materials 7, and 2, 3 or 4 pallets can be loaded side by side in the vehicle width direction. Side loading can also realize the situation that there is material 7 at the tail of the flatbed truck and the material 7 needs to be loaded to any position in the front part of the vehicle 5; however, for vehicles with a fence, side loading is usually difficult, and therefore the loading and unloading system can be switched to the tail loading state to meet the loading requirements of vehicles with a fence. In addition, compared with manual loading and unloading, the loading and unloading system of the embodiment can save manpower and realize unmanned and automation in the loading process.

[0057] Please refer to FIGS. 6, 10 and 11, in an embodiment of the application, the moving mechanism comprises a moving driving member 231, a first gear 232 and a first rack 233, the first rack 233 is arranged on the support beam 11, the first gear 232 is arranged on the fork assembly 2 and engages with the first rack 233, and the moving driving member 231 is arranged on the fork assembly 2 and in transmission connection with the first gear 232, to drive the first gear 232 to move along the first rack 233. The moving mechanism is used to realize the movement of the fork assembly 2 along the support beam 11, wherein the moving driving member 231 can adopt a motor, a hydraulic motor or the like, the first rack 233 is arranged on the support beam 11, the extension direction of the first rack 233 is the moving direction of the fork assembly 2, the moving driving member 231 drives the first gear 232 to rotate, which can make the first gear 232 roll relative to the first rack 233 with which it engages, thereby driving the fork assembly 2 to move along the first rack 233. The first gear 232 and the first rack 233 interact to realize the movement of the fork assembly 2, and both the accuracy and the reliability are high.

[0058] In the embodiment shown in FIG. 6, the moving driving member 231 is a servo motor connected with a speed reducer to increase torque, the speed reducer is connected with a shaft through a shaft coupling, the shaft is supported by a bearing with a seat, two first gears 232 are arranged at the two ends of the shaft respectively, and parallel first racks 233 are arranged on the support beam 11 to engage with the two first gears 232 respectively, and the two first gears 232 are driven to move on the two first racks 233 by the same power, which can ensure the reliability of the movement of the fork assembly 2 and the synchronization of the movement of the two sides of the fork assembly 2.

[0059] Referring to FIG. 6, in an embodiment of the present application, the fork assembly 2 includes a moving frame 234 and a main body frame 241, the moving frame 234 is connected to the support beam 11 through a moving mechanism, the rotating mechanism includes a rotating driving member 252 and a slewing bearing 251, the slewing bearing 251 is connected between the moving frame 234 and the main body frame 241, and the rotating driving member 252 is in transmission connection with the slewing bearing 251 to drive the moving frame 234 and the main body frame 241 to rotate relative to each other.

[0060] The moving frame 234 is mainly used to arrange the moving mechanism to realize the movement of the fork assembly 2, and sliders can be arranged at four corners to facilitate the movement. The main body frame 241 is mainly used to mount the fork rod related structure to realize the fork taking function. The slewing bearing 251 is arranged between the moving frame 234 and the main body frame 241 to realize the relative rotation of the moving frame 234 and the main body frame 241 and reduce the rotation resistance. The rotating driving member 252 is in transmission connection with the slewing bearing 251 to drive the moving frame 234 and the main body frame 241 to rotate relative to each other, thereby realizing the rotation of the fork opening direction of the fork assembly 2.

[0061] The rotating driving member 252 can be a driving member such as a motor, for example, in an embodiment, the rotating driving member 252 is composed of a servo motor, a speed reducer and a gear. The rotating driving member 252 can be in transmission cooperation with the part of the slewing bearing 251 connected with the moving frame 234, or in transmission cooperation with the part of the slewing bearing 251 connected with the main body frame 241. In order to facilitate the transmission of the slewing bearing 251, teeth can be arranged on the circumferential side of the slewing bearing 251 to cooperate with the gear for transmission. In addition, other transmission modes such as shaft transmission and chain transmission can be used.

[0062] Referring to FIG. 7, in an embodiment of the present application, the fork assembly 2 includes a main body frame 241, a fork rod frame 261, a fork rod 262 and a lifting mechanism for lifting the fork rod 262, the fork rod 262 is arranged on the fork rod frame 261, the fork rod frame 261 is movably connected with the main body frame 241 along the lifting direction of the fork rod 262, and the lifting mechanism includes a lifting driving member 242 connected between the main body frame 241 and the fork rod frame 261 to drive the fork rod 262 to lift.

[0063] Since the material 7 needs to be lifted during loading, although the material 7 can be lifted by the overall lifting handling system, the lifting weight is undoubtedly large, and therefore the lifting mechanism is arranged on the fork assembly 2 in the embodiment, the fork rod frame 261 is movably connected with the main body frame 241 along the lifting direction of the fork rod 262, the fork rod frame 261 is lifted by the lifting driving member 242, and the material 7 on the fork rod 262 is lifted. The lifting driving member 242 can be a cylinder, an oil cylinder, a motor or the like, and in the embodiment shown in FIG. 7, the lifting driving member 242 is a servo cylinder arranged at the top of the main body frame 241. The cylinder body of the servo cylinder can directly pass out from the center of the rotary support 251, the motor is arranged at the upper part of the rotary support 251, the installation space at the bottom is saved, and the structure is more compact. Guide rails can be arranged at the two sides of the main body frame 241, and correspondingly, guide wheels can be arranged at the two sides of the fork rod frame 261, so as to ensure the stability and smoothness of lifting.

[0064] Please refer to FIG. 7, in an embodiment of the present application, the fork assembly 2 comprises a pressing top piece 271 and a pressing top driving member 272, the pressing top piece 271 is movably connected with the main body frame 241 along the pressing direction of the pressing top piece 271, and the pressing top piece 271 is located above the fork rod 262, the pressing top driving member 272 is in transmission connection with the pressing top piece 271, and is used to drive the pressing top piece 271 to move along the pressing direction.

[0065] During the movement of the fork assembly 2 for picking up the material 7, the material 7 is prone to slip or fall. In this regard, the fork assembly 2 is provided with the pressing top piece 271 in the embodiment, the pressing top piece 271 is located above the fork rod 262, and the pressing top piece 271 is movably connected with the main body frame 241 along the pressing direction of the pressing top piece 271. The pressing top driving member 272 can drive the pressing top piece 271 to move along the pressing direction, so as to press the material 7 between the pressing top piece 271 and the fork rod 262, thereby preventing the material 7 from slipping or falling, and ensuring the stability of the material 7. Since the material 7 is stable, the truck loader can move at a high speed, and the material 7 can be stacked and then loaded, so that the loading rhythm is fast.

[0066] The pressing top piece 271 usually adopts a plate structure, and can also adopt a strip structure or a fence structure, and the pressing top driving member 272 can adopt a motor, a cylinder or an oil cylinder. In the embodiment shown in FIG. 7, the pressing top driving member 272 adopts a servo motor, a speed reducer and a synchronous belt 273. The pressing top piece 271 is fixed to the synchronous belt 273 by a tensioning fixing member, and the tensioning fixing member can also tension the synchronous belt 273 by adjusting a screw rod. When the servo motor rotates, the pressing top piece 271 can be lifted or lowered by the speed reducer and the synchronous belt 273.

[0067] Please refer to Fig. 8, in one embodiment of the present application, the fork assembly 2 comprises a fork rod transverse driving member 264 for driving the transverse movement of the fork rod 262, the fork rod 262 and the fork rod holder 261 are movably matched along the transverse direction of the fork rod 262, the transverse direction of the fork rod 262 is perpendicular to the direction of the fork and perpendicular to the lifting direction, the fork rod transverse driving member 264 is in driving connection with the fork rod 262 to drive the fork rod 262 to move along the transverse direction of the fork rod.

[0068] The fork rod 262 and the fork rod holder 261 are movably matched along the transverse direction of the fork rod 262, the fork rod transverse driving member 264 can drive the transverse movement of the fork rod 262 relative to the fork rod holder 261, the transverse direction is the direction of the two sides of the fork, that is, the direction perpendicular to the direction of the fork and perpendicular to the lifting direction. Through the transverse movement of the fork rod 262, the fine adjustment of the position of the fork rod 262 can be realized, not only the material 7 can be more accurately forked, but also the distance between the fork rods 262 of the two fork assemblies 2 can be adjusted. The fork rod transverse driving member 264 can adopt a motor, a pneumatic cylinder, an oil cylinder, etc., in the embodiment shown in Fig. 8, the fork rod transverse driving member 264 adopts an electric cylinder to drive the fork rod to move linearly. For the case that the fork assembly 2 has multiple fork rods 262, a fork rod connecting rod 263 can be arranged to connect the multiple fork rods 262 together for overall movement, 4) at the same time, different forked material 7 pallet sizes can replace different fork rod connecting rods 263 to increase adaptability;

[0069] Please refer to Fig. 8, in one embodiment of the present application, the fork rod transverse driving member 264 and the fork rod 262 are provided with an elastic buffer mechanism 28 for providing lateral elastic buffer for the fork rod 262. Generally, in the tail-mounted state, the fork of the fork assembly 2 faces outward, and the closely fitted material 7 and the stacked material 7 can be easily forked, but in the side-mounted state, the forks of the fork assembly 2 are relatively arranged, and it is not easy to control the pressing force of the stacking. If the force is too large, it is easy to make the material 7 slip or damage, and if the force is too small, it is easy to make the material 7 not closely stacked, which cannot be fitted, occupies a large space, and is easy to fall. In the embodiment, the elastic buffer mechanism 28 is arranged between the fork rod transverse driving member 264 and the fork rod 262, and the spring 281 buffer device is used for buffering, so that the extrusion force is controllable, thereby ensuring that the material 7 and the material 7 can be well fitted without slipping or damaging the material 7, saving loading space, reducing the risk of falling of the material 7 during transportation, and improving the safety of transportation.

[0070] Please refer to Fig. 9, in one embodiment of the present application, the buffering mechanism comprises a spring 281, a guide rod 282, a guide rod base 283 and a guide base 284, the guide rod 282 is connected to the guide rod base 283, the guide base 284 is provided with a guide hole, the guide rod 282 is inserted into the guide hole, the spring 281 is sleeved on the guide rod 282 and located between the guide rod base 283 and the guide base 284, the guide rod base 283 is connected to the fork horizontal moving driving member 264, and the guide base 284 is connected to the fork 262. The spring 281 buffering device can also use a spring 281, an elastic pad and the like. In the embodiment, the spring 281 can play a role in controlling the extrusion force and buffering, the guide rod 282 and the guide base 284 are matched to play a guiding role, and the guide rod base 283 is used for fixing the guide rod 282 and can be connected to the fork horizontal moving driving member 264 by means of setting an ear plate or the like, and the guide base 284 can be directly connected to the fork 262.

[0071] Please refer to Fig. 10, in one embodiment of the present application, the loading and unloading system further comprises a walking mechanism 13 for driving the support assembly 1 to walk, the walking mechanism 13 comprises a walking driving member, a walking wheel and a walking track, the walking track is arranged along the walking direction of the support assembly 1, the walking wheel is arranged at the bottom of the support assembly 1 and is in rolling cooperation with the walking track, and the walking driving member is arranged on the support assembly 1 and is in transmission connection with the walking wheel, so as to drive the walking wheel to move along the walking track.

[0072] Although the support assembly 1 can be fixed, the movable support assembly 1 is undoubtedly more conducive to loading and unloading of the materials 7. In the embodiment, the support assembly 1 is provided with the walking mechanism 13, the walking wheel in the walking mechanism 13 is driven by the walking driving member to move on the walking track, so that the walking of the support assembly 1 can be realized, and the fork assembly 2 and the materials 7 on the fork assembly 2 are driven to move. In the embodiment shown in Fig. 10, the support assembly 1 is provided with a support leg 12 at each side, which is used for connecting the support beam 11 and the walking mechanism 13, the walking mechanism 13 is located at the bottom of the support leg 12, and the support beam 11 is located at the top of the support leg 12.

[0073] Please refer to Fig. 12, in one embodiment of the present application, the loading and unloading system further comprises a walking mechanism 13 for driving the support assembly 1 to walk and a rain cloth covering mechanism 6 for covering the rain cloth 61 for the loading vehicle 5, the rain cloth covering assembly comprises the rain cloth 61 and a rain cloth lifting roller 62, the rain cloth lifting roller 62 is located at one end in the walking direction of the support assembly 1, one end of the rain cloth 61 is connected to the support assembly 1, and the other end passes around the rain cloth lifting roller 62.

[0074] In the prior art, the tarpaulin 61 is manually covered on the vehicle 5 after the loading of the material 7 is completed, which is time-consuming, laborious and low in safety. In the embodiment, the tarpaulin 61 is connected to the support assembly 1 at one end and passes around the tarpaulin lifting roller 62 by using the walking function of the support assembly 1. After the loading of the material 7 on the vehicle 5 is completed, the tarpaulin 61 is lifted to a sufficient height by the tarpaulin lifting roller 62 to prevent the tarpaulin 61 from being hooked on the wiper and other parts of the vehicle 5, and then the tarpaulin 61 is moved from one end to the other end of the material 7 on the vehicle 5 by the walking of the support assembly 1 to cover the tarpaulin 61 on the material 7 on the vehicle 5, and finally the tarpaulin 61 is fixed on the vehicle 5 to achieve efficient and safe covering of the tarpaulin 61. The tarpaulin lifting roller 62 mainly functions to lift and guide the tarpaulin 61, and the tarpaulin lifting roller 62 is preferably lowered to the ground or a height sufficient for manual passing of the tarpaulin 61 to facilitate threading of the tarpaulin 61 over the tarpaulin lifting roller 62. In addition to the tarpaulin lifting roller 62, one or more tarpaulin supporting rollers 63 can be provided to prevent the tarpaulin 61 from falling and being hooked on the truck head and other positions. The tarpaulin 61 can be fixed by the tarpaulin clamping beam 64 and then connected to the walkable support assembly 1 by a device such as an electric hoist, and the electric hoist can be used to tighten the tarpaulin 61. The connection position of the tarpaulin 61 to the support assembly 1 needs to have sufficient height, and is usually connected to the support beam 11 of the support assembly 1.

[0075] Based on the above loading and unloading system, the application further provides a loading and unloading method, which uses the above loading and unloading system for loading and unloading, and includes: switching the loading and unloading system to the first state, moving the first fork assembly 21 and the second fork assembly 22 to the two sides of the material 7 respectively in the first state, and then moving the first fork assembly 21 and the second fork assembly 22 towards each other to fork the material 7 for loading and unloading of the material 7.

[0076] Or switching the loading and unloading system to the second state, moving the first fork assembly 21 and the second fork assembly 22 to one side of the material 7 synchronously in the second state, and then moving the first fork assembly 21 and the second fork assembly 22 towards the material 7 synchronously to fork the material 7 for loading and unloading of the material 7.

[0077] The loading and unloading system of the embodiment has two states, which can be selected according to requirements, the first state: side loading or the second state: tail loading. If the side loading mode is adopted, the loading and unloading system needs to be switched to the first state, that is, the state that the fork of the first fork assembly 21 and the fork of the second fork assembly 22 are oppositely arranged, then the first fork assembly 21 and the second fork assembly 22 can be respectively moved to the two sides of the material 7, and the first fork assembly 21 and the second fork assembly 22 are moved towards each other to fork the material 7, so as to load and unload the material 7. If the tail loading mode is adopted, the loading and unloading system needs to be switched to the second state, that is, the state that the fork of the first fork assembly 21 and the fork of the second fork assembly 22 are arranged side by side and the forks are directed to the same direction, and the specific switching process is usually to rotate the first fork assembly 21 and the second fork assembly 22 first, so that the forks of the first fork assembly 21 and the second fork assembly 22 are both directed forward, and then move the first fork assembly 21 and the second fork assembly 22 to the middle of the support beam 11, so as to switch to the second state. After switching to the second state, the first fork assembly 21 and the second fork assembly 22 are synchronously moved to one side of the material 7, and then the first fork assembly 21 and the second fork assembly 22 are synchronously moved towards the material 7 to fork the material 7, so as to load and unload the material 7. After the material 7 is forked by the first fork assembly 21 and the second fork assembly 22, the material 7 can be moved to a target position and placed down, so as to complete the stacking of the material 7. Whether in the side loading state or the tail loading state, since the first fork assembly 21 and the second fork assembly 22 can independently move, the loading of the material 7 with different widths can be realized. When the material 7 is forked, the upper and lower layers of the material 7 can be forked and loaded, or only one layer of the material 7 can be forked and loaded. The loading and unloading system of the embodiment can be equipped with a temporary storage conveyor 3, which is used to convey the material 7 to a position convenient for the fork assembly to fork and temporarily store.

[0078] In an embodiment of the present application, the loading and unloading method further comprises: in the first state, after the material is forked, moving the first fork assembly and / or the second fork assembly to form a first gap between the material on the first fork assembly and the material on the second fork assembly, the first gap being used to prevent the first fork assembly and the second fork assembly from rotating interference;

[0079] respectively independently adjusting the material on the first fork assembly and the material on the second fork assembly;

[0080] moving the first fork assembly and / or the second fork assembly to align the material on the first fork assembly and the material on the second fork assembly with each other;

[0081] synchronously moving the first fork assembly and the second fork assembly to move the material to a first target position for placement;

[0082] Or, in the first state, after the forked material 7, the first fork assembly 21 and the second fork assembly 22 are both rotated a angle in the first direction, and the first fork assembly 21 moves L distance in the second direction, and the second fork assembly 22 moves L distance in the opposite direction of the second direction, and the first fork assembly 21 and the second fork assembly 22 keep L = 0.5L1*sin a during the movement, so that the material 7 on the first fork assembly 21 and the second fork assembly 22 rotates a angle around the center A1, wherein L1 represents the distance between the rotation center A2 of the first fork assembly 21 and the rotation center A3 of the second fork assembly 22;

[0083] Synchronously moving the first fork assembly 21 and the second fork assembly 22 moves the material 7 to the second target position for placement;

[0084] Or, in the second state, after the forked material 7, the first fork assembly 21 and / or the second fork assembly 22 are moved so that the material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22 form a second gap, and the second gap is used to prevent the first fork assembly 21 and the second fork assembly 22 from rotating interference;

[0085] The first fork assembly 21 and the second fork assembly 22 are both rotated b angle in the third direction;

[0086] The material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22 are converged, and the material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22 form a misalignment;

[0087] Synchronously moving the first fork assembly 21 and the second fork assembly 22 makes the material 7 reach the third target position;

[0088] Respectively moving the first fork assembly 21 and the second fork assembly 22 and placing the material 7 to eliminate the misalignment of the material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22.

[0089] The embodiment is mainly used for fine adjustment of the direction of the material 7. When the direction of the forked material 7 cannot accurately match the stacking direction of the target position, the fine adjustment can be made by the embodiment. For example, when loading the material 7 on the vehicle 5, the laser radar 4 provided in the loading and unloading system can scan the position of the vehicle body. The laser radar 4 is installed on the holder which can swing a certain angle, and the laser radar 4 can scan the space of the vehicle body by swinging. After the laser radar 4 scans the corner coordinates of the vehicle 5, the system calculates the position of the vehicle body and the deflection angle of the material 7 according to the coordinates. According to the required correction angle calculated by the system, the embodiment can move forward and backward and rotate synchronously by the fork assemblies on both sides. The combination of the movement and rotation of the fork rod 262 can make the fork rod 262 and the material 7 realize the direction correction without relative movement.

[0090] For the side-mounted state, if the materials on the first fork assembly 21 and the second fork assembly 22 can be separated and independently carried by the first fork assembly 21 and the second fork assembly 22 respectively, for example, there are 2 totes of materials on the first fork assembly 21 and the second fork assembly 22, the first fork assembly 21 and the second fork assembly 22 can respectively hold 1 tote of materials, and after the independent first fork assembly 21 and the second fork assembly 22 are respectively adjusted, the goods on the first fork assembly 21 and the second fork assembly 22 can be folded and transported to the target position. The adjustment of the first fork assembly 21 and the second fork assembly 22 can generally rotate a certain angle and move a certain distance independently, so as to adjust the materials to match the stacking requirements of the target position. It should be noted that before the first fork assembly 21 and the second fork assembly 22 are respectively adjusted, the first fork assembly 21 and / or the second fork assembly 22 need to be moved first, so that the materials on the first fork assembly 21 and the materials on the second fork assembly 22 form a first gap, and the first gap is used to prevent the rotation of the first fork assembly 21 and the second fork assembly 22 from interfering with each other.

[0091] If the materials on the first fork assembly and the materials on the second fork assembly cannot be separated, for example, there are 3 totes of materials on the first fork assembly and the second fork assembly. As shown in FIG. 12, assuming that the materials 7 need to be rotated counterclockwise by an angle a around the center A1, then the first fork assembly 21 needs to be rotated counterclockwise by an angle a, and then moved backward by L=0.5L1*sin a; the second fork assembly 22 needs to be rotated counterclockwise by an angle a, and then moved forward by L0=0.5L1*sin a, L1 represents the distance between the rotation center A2 of the first fork assembly 21 and the rotation center A3 of the second fork assembly 22; the synchronous control movement of the two side fork assemblies, the rotation angle a and the forward and backward movement distance L always satisfy the relationship of L=0.5L1*sin a during the movement process, so that the materials 7 can be reversed.

[0092] After the materials 7 are reversed, the system calculates the placement position of the materials 7 along the left-right direction of the vehicle body according to the scanned vehicle body position, and then the two side fork assemblies move synchronously left and right with the materials 7 to the required position. After the direction and left-right position of the materials 7 are adjusted, the system calculates the required front-back position of the materials 7 on the vehicle 5 according to the scanned vehicle body position, and then the loading machine moves to the corresponding position and places the materials 7 at the target position; the fork assembly lowers the materials 7 to the corresponding position of the vehicle 5, in order to make the placed materials 7 and the already stacked materials 7 close, the moving mechanism inside the fork assembly moves the fork assembly forward by a certain distance after the materials 7 are lowered close to the placement plane, so that the placed materials 7 and the already stacked materials 7 are squeezed to reduce the gap between the materials 7, and the fork assembly has a spring 281 buffer device to buffer the squeezing force to make the squeezing force controllable. After the materials 7 are close, the fork rod 262 is lowered and then removed, completing the stacking of the materials 7.

[0093] For the side loading state, according to the fine adjustment requirement, the two side fork assemblies adjust the materials 7 to be parallel to the vehicle body by rotating a certain angle respectively, and a certain gap is kept between the two side materials 7 before rotation to avoid interference during rotation. After the direction adjustment is completed, the first fork assembly 21 and the second fork assembly 22 move left and right to close the materials 7. After the direction adjustment and closing of the two side materials 7, the materials 7 will have a certain misalignment front and back. The system calculates the required front and back position of the materials 7 on the vehicle 5 according to the scanned vehicle body position, and then the loading machine moves to the corresponding position and places the materials 7 at the target position. Then the loading machine moves the materials 7 back by the misalignment distance, the fork rod 262 on one side of the rear material 7 lifts the material 7 to a certain height, and the loading machine places the rear material 7 forward to eliminate the misalignment of the front and back of the two side materials 7, and realizes the alignment. After the direction and left and right position adjustment of the materials 7, the system calculates the required front and back position of the materials 7 on the vehicle 5 according to the scanned vehicle body position, and then the loading machine moves to the corresponding position and places the materials 7 at the target position.

[0094] In the above manner, whether in the side loading state or the tail loading state, fine adjustment of the materials 7 can be achieved, thereby realizing high matching of the positions of the materials 7 and the vehicle 5, and enabling the materials 7 to be accurately stacked on the vehicle 5.

[0095] The above is only a preferred embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A handling system, characterized in that The loading and unloading system comprises: a support assembly having a support beam; a plurality of fork assemblies arranged on the support beam, each of the fork assemblies being provided with a moving mechanism for moving the fork assembly along the transverse support, and being provided with a rotating mechanism for rotating the fork opening of the fork assembly; wherein the plurality of fork assemblies comprises a first fork assembly and a second fork assembly, the loading and unloading system has a first state and a second state, and the moving mechanism and the rotating mechanism are used to switch the loading and unloading system between the first state and the second state; in the first state, the fork openings of the first fork assembly and the second fork assembly are arranged facing each other, and in the second state, the fork openings of the first fork assembly and the second fork assembly are arranged side by side and face the same direction.

2. The handling system of claim 1, wherein, The moving mechanism comprises a moving drive, a first gear and a first rack, the first rack is arranged on the support beam, the first gear is arranged on the fork assembly and is engaged with the first rack, and the moving drive is arranged on the fork assembly and is in transmission connection with the first gear to drive the first gear to move along the first rack.

3. The handling system of claim 1, wherein, The fork assembly comprises a moving frame and a main frame, the moving frame is connected to the support beam through the moving mechanism, the rotating mechanism comprises a rotating drive and a slewing bearing, the slewing bearing is connected between the moving frame and the main frame, and the rotating drive is in transmission connection with the slewing bearing to drive the moving frame and the main frame to rotate relative to each other.

4. Handling system according to any of claims 1-3, characterized in that The fork assembly comprises a main frame, a fork rod frame, a fork rod and a lifting mechanism for lifting the fork rod, the fork rod is arranged on the fork rod frame, the fork rod frame is movably connected with the main frame along the lifting direction of the fork rod, and the lifting mechanism comprises a lifting drive connected between the main frame and the fork rod frame to drive the fork rod to lift.

5. The system of claim 4, wherein, The fork assembly comprises a pressing top and a pressing top drive, the pressing top is movably connected with the main frame along the pressing direction of the pressing top and is located above the fork rod, and the pressing top drive is in transmission connection with the pressing top to drive the pressing top to move along the pressing direction.

6. The system of claim 4, wherein, The fork assembly comprises a fork rod transverse drive for driving the fork rod to transversely move, the fork rod and the fork rod frame are movably connected along a fork rod transverse direction, the fork rod transverse direction is perpendicular to the fork opening direction and perpendicular to the lifting direction, and the fork rod transverse drive is in transmission connection with the fork rod to drive the fork rod to move along the fork rod transverse direction.

7. The system of claim 6, wherein, An elastic buffering mechanism is arranged between the fork rod transverse drive and the fork rod to provide elastic buffering for the lateral movement of the fork rod.

8. The system of claim 7, wherein, The buffering mechanism comprises a spring, a guide rod, a guide rod seat and a guide seat, the guide rod is connected to the guide rod seat, the guide seat is provided with a guide hole, the guide rod is inserted into the guide hole, the spring is sleeved on the guide rod and located between the guide rod seat and the guide seat, the guide rod seat is connected to the fork rod transverse drive, and the guide seat is connected to the fork rod.

9. The system of claim 1, wherein, The loading and unloading system further comprises a walking mechanism for driving the support assembly to walk, the walking mechanism comprising a walking driving member, a walking wheel and a walking track, the walking track being arranged along the walking direction of the support assembly, the walking wheel being arranged at the bottom of the support assembly and rolling with the walking track, and the walking driving member being arranged on the support assembly and being in transmission connection with the walking wheel to drive the walking wheel to move along the walking track.

10. The handling system of claim 1, wherein, The loading and unloading system further comprises a walking mechanism for driving the support assembly to walk and a tarpaulin covering mechanism for covering the tarpaulin on the loading vehicle, the tarpaulin covering assembly comprising a tarpaulin and a tarpaulin lifting roller, the tarpaulin lifting roller being located at one end of the walking direction of the support assembly, and one end of the tarpaulin being connected with the support assembly and the other end passing through the tarpaulin lifting roller.

11. A method of handling, characterized by The loading and unloading method is performed by using the loading and unloading system according to any one of claims 1-10, and the loading and unloading method comprises: switching the loading and unloading system to the first state, in the first state, moving the first fork assembly and the second fork assembly to the two sides of the material respectively, and then moving the first fork assembly and the second fork assembly towards each other to fork the material to perform the loading and unloading of the material; or switching the loading and unloading system to the second state, in the second state, moving the first fork assembly and the second fork assembly to one side of the material synchronously, and then moving the first fork assembly and the second fork assembly towards the material synchronously to fork the material to perform the loading and unloading of the material.

12. The system of claim 11, wherein, The loading and unloading method further comprises: in the first state, after forking the material, moving the first fork assembly and / or the second fork assembly to form a first gap between the material on the first fork assembly and the material on the second fork assembly, the first gap being used to prevent the first fork assembly and the second fork assembly from rotating and interfering with each other; independently adjusting the material on the first fork assembly and the material on the second fork assembly respectively; moving the first fork assembly and / or the second fork assembly to align the material on the first fork assembly and the material on the second fork assembly with each other; synchronously moving the first fork assembly and the second fork assembly to move the material to a first target position; or, in the first state, after forking the material, rotating the first fork assembly and the second fork assembly by an angle a in the first direction, moving the first fork assembly by a distance L in the second direction, and moving the second fork assembly by a distance L in the opposite direction of the second direction, the first fork assembly and the second fork assembly being kept at L=0.5L1*sin a during the movement, so that the material on the first fork assembly and the material on the second fork assembly rotate by an angle a around the center thereof, wherein L1 represents the distance between the rotation center of the first fork assembly and the rotation center of the second fork assembly; synchronously moving the first fork assembly and the second fork assembly to move the material to a second target position. Alternatively, in the second state, after the forks have picked up the load, the first and / or second fork assemblies are moved so that the load on the first fork assembly and the load on the second fork assembly form a second gap, the second gap being configured to prevent the first and second fork assemblies from rotating into each other; the first and second fork assemblies are each rotated by an angle b in a third direction; the load on the first fork assembly and the load on the second fork assembly are brought together, the load on the first fork assembly and the load on the second fork assembly being misaligned; the first and second fork assemblies are moved synchronously so that the load reaches a third target position; the first and second fork assemblies are moved separately and the load is deposited so that the misalignment of the load on the first fork assembly and the load on the second fork assembly is removed.

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