CN112499297A

CN112499297A - Automatic loading and unloading equipment and automatic loading and unloading method

Info

Publication number: CN112499297A
Application number: CN202011197574.4A
Authority: CN
Inventors: 李鸿钧; 谭谊诚
Original assignee: Futaihua Industry Shenzhen Co Ltd
Current assignee: Futaihua Industry Shenzhen Co Ltd
Priority date: 2020-10-31
Filing date: 2020-10-31
Publication date: 2021-03-16

Abstract

An automatic loading and unloading device is used for loading and unloading cargos on a wharf and comprises a lifting plate and a transmission device, wherein the lifting plate is provided with a loading surface for loading cargos, the transmission device is used for transmitting the cargos on the loading surface to displace between an unloading position and a loading position with a height difference, and the transmission device comprises a lifting part and a transverse moving part; the lifting part comprises an outer frame and a lifting driving device, the lifting plate is accommodated in the outer frame, the driving end of the lifting driving device drives the lifting plate to lift in the outer frame, and the outer frame is provided with a first opening facing the wharf and a second opening deviating from the wharf; the transverse moving part is arranged on the bearing surface and used for driving goods to enter or be transported out of the bearing surface. Through this kind of automatic handling equipment, can with the goods on the pier steadily transport with the pier in the carriage of co-altitude not, after the carriage height is transported to the goods, again through sideslip portion with the goods transport lifter plate. The application also provides an automatic loading and unloading method.

Description

Automatic loading and unloading equipment and automatic loading and unloading method

Technical Field

The application relates to automatic loading and unloading equipment and an automatic loading and unloading method.

Background

The loading and unloading wharf 003 of the existing factory building is mainly used for butt joint of large and medium trucks, as shown in fig. 1. Usually, the dock 003 is higher than the ground of the vehicle parking area, and after a manned truck 005 is close to the dock 003, the tailboard is put down to lean against the dock 003, and the lift of tailboard is utilized to realize the butt joint loading and unloading of truck and dock 003.

After adopting conveyer 002, because the little chassis of conveyer 002 size is low, the carriage height is less than the pier 003 height, the automatic loading and unloading of pallet goods 006 between pier 003 and conveyer 002 can't be carried out, generally need to send into the carriage of conveyer 002 after reducing the height through devices such as manual operation fork truck 004 with the goods 006 of pier 003 eminence.

Disclosure of Invention

In view of the above, it is desirable to provide a loading and unloading robot and a loading and unloading method thereof, which can solve the problem that the transportation device cannot be docked with the dock.

An embodiment of the application provides an automatic loading and unloading device, which is used for loading and unloading goods on a wharf and comprises a lifting plate and a transmission device, wherein the lifting plate is provided with a loading surface for bearing the goods, the transmission device is used for transmitting the goods on the loading surface to be displaced between a unloading position and a loading position with a height difference, and the transmission device comprises a lifting part and a transverse moving part; the lifting part comprises an outer frame and a lifting driving device, the lifting plate is accommodated in the outer frame, the driving end of the lifting driving device drives the lifting plate to lift in the outer frame, and the outer frame is provided with a first opening facing the wharf and a second opening deviating from the wharf; the transverse moving part is arranged on the bearing surface and used for driving goods to enter or be transported out of the bearing surface.

Through this kind of automatic handling equipment, when the pier height is higher, can steadily transport the carriage of the lower position under the pier with the goods of higher position on the pier, can realize the sideslip of goods on the lifter plate through sideslip portion moreover, carry the lifter plate with the goods from first opening part on for the goods steadily places on the lifter plate, after the goods descends to the height that corresponds with the carriage, transports the goods out of the lifter plate via sideslip portion again. Conversely, the reverse operation may also be used to carry cargo below the dock to the dock. Obviously, the docking device can also be used in a place where the wharf is at a low position relative to the carriage, and the docking with different height differences can be realized through the automatic loading and unloading equipment.

Further, in some embodiments of the present application, the lifting driving device includes a first power unit and a first control unit, the first power unit provides power for lifting the lifting plate, and the first control unit is electrically connected to the first power unit to control power output of the first power unit.

The lifting device provides power to lift through the first power unit, and the first control unit is matched with the first power unit to control the lifting height, so that the deviation of the height of the lifting plate is avoided.

Further, in some embodiments of the present application, the first control unit includes a height sensor disposed in the outer frame for monitoring a height of the lifting plate in the outer frame.

The height sensor provides the height condition of the lifting plate, so that the power output of the first power unit can be controlled more accurately by monitoring the position of the lifting plate, and the lifting plate can be controlled at the required height accurately.

Further, in some embodiments of the present application, the lifting driving device further includes a wireless communication unit, the wireless communication unit is electrically connected to the first control unit, and the wireless communication unit is used for being in communication connection with a transportation device that transports the cargo outside the bearing surface.

The wireless communication unit is communicated with an external transportation device, so that the state of the transportation device and the state of the automatic loading and unloading equipment are simultaneously allocated, and the transportation device is matched with the automatic loading and unloading equipment.

Further, in some embodiments of the present application, the traverse section includes a conveyor belt having a slip-resistant surface disposed thereon.

The conveying is carried out through the conveying belt, and the stable transportation of goods with non-planar bottoms can be realized. When workers also need to transfer from wharf to wharf through the automatic loading and unloading equipment, the workers can stand stably on the conveyor belt.

Further, in some embodiments of the present application, the traverse section includes a plurality of conveying rollers arranged side by side, the conveying rollers being rotatably coupled to the lifting plate.

Carry out the transmission of goods through the transfer roller, can guarantee the steady of goods, the transfer roller is not fragile in addition, has longer life, can improve automatic handling equipment's whole life.

Further, in some embodiments of the present application, the traverse portion further includes a second power unit and a second control unit, an output end of the second power unit cooperates with the conveying roller to drive the conveying roller to rotate, and the second control unit is electrically connected to the second power unit to control power output of the second power unit.

The sideslip portion provides the horizontal sideslip of power in order to realize the goods through the second power pack, and the control of horizontal displacement volume and horizontal displacement speed is carried out in the cooperation of second control unit and second power pack to avoid the goods to topple over or directly transport the lifter plate from the eminence and fall to the low place.

Further, in some embodiments of the present application, the second control unit includes a sensor group, and the sensor group is fixedly connected to the lifting plate and is used for sensing whether the carrying surface has goods thereon.

The state of the goods on the lifting plate is judged through the sensor group.

Further, in some embodiments of the present application, the sensor set includes a first sensor proximate the first opening, and a second sensor proximate the second opening.

Whether have the goods to get into the lifter plate can be judged through first sensor, can judge through the second sensor whether the goods is carried out the lifter plate.

Further, in some embodiments of the present application, the sensor group further comprises a presence sensor located between the first sensor and the second sensor, the presence sensor having a sensing range covering more than 30% of the bearing surface area.

Whether goods exist on the lifting plate can be judged through the existence sensor.

Further, in some embodiments of the present application, a clamping device is further disposed on the bearing surface;

an installation space is formed between the conveying rollers and the bearing surface, and a gap is formed between every two adjacent conveying rollers;

the clamping device comprises opposite clamping pieces, each clamping piece comprises a rotating shaft and a clamping jaw, the clamping jaws are in circumferential limit connection with the rotating shaft, the rotating shaft is in rotatable connection with the lifting plate, and the rotating shaft rotates to enable the clamping jaws to be switched between a placing state and a clamping state;

when the clamping jaw is in the placing state, the clamping jaw is accommodated in the installation space;

in the clamped state, the clamping jaw protrudes out of the mounting space from the gap.

When the conveying roller is used for transporting goods, the goods can slide on the conveying roller. Can effectively prevent the goods to slide on the transfer roller through setting up clamping device. When goods are transported from the outside of the lifting plate to the inside of the lifting plate, the clamping device is hidden below the conveying roller and cannot influence the transverse movement of the goods on the conveying roller.

Further, in some embodiments of this application, the pivot with be provided with the slide rail on the lifter plate, the pivot passes through the slide rail with lifter plate sliding fit, the slide rail is along being on a parallel with the direction extension of transfer roller.

Because the lifter plate can be transported the goods of equidimension not, for the firm goods of equidimension of centre gripping, set up the centre gripping space between two sets of clamping jaws of clamping device as adjustable. When using, if the less goods of centre gripping, then pass through the slide rail with two sets of pivots and be close to relatively to reduce the centre gripping space, if the great goods of centre gripping, then pass through the slide rail with two sets of pivots and keep away from relatively, thereby enlarge the centre gripping space.

Further, in some embodiments of the present application, a lifting box is disposed in the outer frame, and a bottom of the lifting box forms the lifting plate;

one surface of the lifting box facing the first opening is provided with a third opening, and one surface facing the second opening is provided with a fourth opening.

The lateral wall of lifting box and frame form bigger area of contact, increase the stability of lifter plate to make the frame can keep the lifting box to remain the lifter plate throughout and be in the horizontally state, slope when avoiding the lifter plate to bear heavier goods.

Further, in some embodiments of the present application, the third opening and/or the fourth opening is provided with a safety door.

Can prevent through setting up the emergency exit that the goods from empting, also can avoid the staff to miss to a certain extent simultaneously and go into in the cage.

Further, in some embodiments of the present application, a control panel is further included, and the control panel is electrically connected to the lifting portion and the traverse portion.

Through control panel, the staff can regulate and control the high position of lifter plate voluntarily to and the horizontal transport of regulation and control sideslip portion to the goods.

The application also provides an automatic loading and unloading method, which uses the transportation device and the automatic loading and unloading equipment to realize unloading of cargos on a wharf and loading the cargos into the transportation device, and comprises the following steps:

the transportation device starts a docking instruction to a wireless communication unit electrically connected with the lifting driving device;

the lifting driving device drives the lifting plate to move to the wharf height;

the wireless communication unit sends a loading starting instruction to the transportation device and the forklift;

the forklift is used for conveying goods on the stacking head to the bearing surface to be contacted with the transverse moving part;

the transverse moving part transports the goods on the bearing surface to be positioned on the bearing surface completely;

the transportation device moves to a position for docking with the automatic loading and unloading equipment;

the lifting driving device drives the lifting plate to move to be in butt joint with the transportation device;

the traverse section transports the cargo to a vehicle compartment near the transport device.

By the automatic loading and unloading method, goods on the wharf can be automatically butted with the transportation device on the wharf at the high position and the transportation device on the wharf at the low position to transfer the goods, and manual allocation is not needed in the process. Obviously, when the wharf is at a low position, the automatic loading and unloading method can also realize the automatic butt joint of the goods at the low position on the wharf and the transportation device at the high position outside the wharf to transfer the goods, and manual allocation is not needed in the process.

Further, in some embodiments of the present application, after the traverse portion transports the cargo to a compartment adjacent to the transport device, the method further includes:

a first sensor on the lifting plate, which is close to the first opening, senses that goods enter the bearing surface;

the first sensor sending a command to the traverse section to activate the traverse section;

a presence sensor on one side of the first sensor near the second opening senses entry of cargo;

the wireless communication unit sends an instruction to the forklift to drive the forklift to unload goods;

the transverse moving part transports the goods to the position of the second opening until the goods are sensed by a second sensor on the lifting plate, wherein the second sensor is close to the second opening;

the second sensor sends an instruction to the traverse section to stop the traverse section.

Whether the goods are close to the second opening as much as possible when being judged on the lifting plate through the first sensor and the second sensor so that the goods are completely positioned on the bearing surface.

And the goods conveyed by the transverse moving part are transmitted to a preset position in the carriage by the goods conveying part in the carriage.

The carriage can be provided with a loading transmission part, so that the transverse moving part is transported to a reasonable position in the carriage, and the space in the carriage is fully utilized.

Further, in some embodiments of the present application, in the step of transporting the cargo to the carriage near the transport device by the traverse portion, the method further includes:

a second sensor on the lifting plate close to the second opening senses that the goods are conveyed out;

The motion of sideslip portion can in time be stopped through the response of second sensor to realize the automatic stop of sideslip portion. The second sensor is arranged at a position close to the second opening, so that more accurate judgment can be made on whether goods are transported out of the lifting plate.

Further, in some embodiments of the present application, in the step of transporting the transport device to a position for docking with the robot, the method further comprises:

the transportation device is close to the automatic loading and unloading equipment;

the butt joint sensor of the automatic loading and unloading equipment senses the posture of the conveying device;

when the posture of the transportation device meets the butt joint requirement, a carriage of the transportation device is opened;

the transportation device sends a positioning instruction to the wireless communication unit.

The alignment posture is confirmed through the transporting device and the automatic loading and unloading equipment, so that the automatic loading and unloading equipment can be prevented from transporting cargoes to wrong positions.

Further, in some embodiments of the present application, after the step of sensing the attitude of the transporter by the docking sensor of the auto-handler, the method further comprises the steps of:

when the posture of the transportation device does not meet the butt joint requirement, the transportation device is far away from the automatic loading and unloading equipment;

the transporter is again brought into proximity with the auto-handler.

By repeatedly keeping away from and approaching the automatic handling equipment for alignment, on the one hand, the proper distance between the transportation device and the automatic handling equipment can be ensured, and on the other hand, the orientation of the transportation device and the automatic handling equipment can also be repeatedly adjusted.

Drawings

Fig. 1 is a schematic diagram of a wharf in the prior art.

Fig. 2 is a schematic diagram of a dock including a robotic loading device in one embodiment of the present application.

Fig. 3 is a schematic structural view of a robot handling apparatus in an embodiment of the present application.

FIG. 4 is a schematic illustration of the structure of the lift box of the auto-handler in one embodiment of the present application.

Fig. 5 is a schematic view of the structure of the automatic loading and unloading apparatus in another embodiment of the present application.

Fig. 6 is a schematic view of the structure of the automatic loading and unloading apparatus in another embodiment of the present application.

Fig. 7 is a cross-sectional view of the lift box of fig. 3.

FIG. 8 is a schematic diagram of a clamp of the robot in one embodiment of the present application.

Fig. 9 is a schematic illustration of a quay with forklift loads in proximity to an automated loading and unloading apparatus in an embodiment of the present application.

Figure 10 is a schematic illustration of a quay with forklift loads in proximity to the truck and transport means in proximity to the truck in one embodiment of the present application.

Fig. 11 is a schematic view of the quay of fig. 10 with the rear fork lift truck discharging cargo into the automatic load handling apparatus.

Fig. 12 is a schematic view of the structure of the quay of fig. 11 with the rear transporter carrying cargo remote from the robot.

Figure 13 is a schematic illustration of a dock with a manned truck docked with a robotic loading device in one embodiment of the present application.

Fig. 14 is a cross-sectional view of fig. 13.

Fig. 15 is a flow chart of a method of loading and unloading a cargo in an embodiment of the present application.

Description of the main elements

Automatic loading and unloading equipment 001

Transport device 002

Wharf 003

Forklift 004

Manned truck 005

Goods 006

Lifting box 010

Emergency exit 011

Lifting plate 100

Carrying surface 101

Lifting part 200

Outer frame 210

First opening 211

Second opening 213

Lift drive 230

First power unit 231

First control unit 233

Height sensor 2331

Wireless communication unit 235

Transverse moving part 300

Conveyor belt 310

Transfer roller 330

Sensor group 350

First sensor 351

Presence sensor 353

Second sensor 355

Clamping device 400

Holding member 410

Rotating shaft 411

Clamping jaw 413

Slide 415

Control panel 500

The following detailed description will further illustrate the present application in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Through the automatic loading and unloading equipment, goods at a higher position on the wharf can be stably transported to a carriage at a lower position under the wharf, the goods can be horizontally moved on the lifting plate through the horizontal moving part, the goods are conveyed to the lifting plate from the first opening, the goods are stably placed on the lifting plate, and the goods are conveyed out of the lifting plate through the horizontal moving part after being lowered to the height corresponding to the carriage. Conversely, the reverse operation may also be used to carry cargo below the dock to the dock. Obviously, the docking device can also be used in a place where the wharf is at a low position relative to the carriage, and the docking with different height differences can be realized through the automatic loading and unloading equipment.

Embodiments of the present application will be further described with reference to the accompanying drawings.

Example one

Referring to fig. 2 and 3, a first embodiment of the present application provides an automatic loading and unloading apparatus 001 for transferring cargo 006 between a loading position and a unloading position having a height difference at a quay 003 or the like. The automatic loading and unloading apparatus 001 includes a lifting plate 100 having a loading surface 101 for loading the goods 006, and a driving means for transferring the goods 006 on the loading surface 101 to be displaced between a discharging position and a loading position having a height difference, the driving means including a lifting part 200 and a traverse part 300; the lifting part 200 comprises an outer frame 210 and a lifting driving device 230, the lifting plate 100 is accommodated in the outer frame 210, the driving end of the lifting driving device 230 drives the lifting plate 100 to lift in the outer frame 210, and the outer frame 210 is provided with a first opening 211 facing the wharf 003 and a second opening 213 facing away from the wharf 003; the traverse section 300 is provided on the bearing surface 101 for driving the goods 006 into or out of the bearing surface 101.

With this automatic loading and unloading apparatus 001, the cargo 006 at a high position on the quay 003 is carried to one side of the lifting plate 100, the cargo 006 on the quay 003 is horizontally moved onto the lifting plate 100 by the horizontal moving portion 300, the lifting plate 100 is lowered to the height, and when the lifting plate 100 is lowered to abut against the car under the quay 003, the horizontal moving portion 300 horizontally moves the cargo 006 on the lifting plate 100 out of the lifting plate 100, and the cargo 006 enters the car under the quay 003. Conversely, the cargo 006 at a lower position on the dock 003 can be transported to one side of the lifting plate 100 through the carriage, the cargo 006 on the carriage can be transversely moved onto the lifting plate 100 through the transverse moving part 300, the lifting plate 100 is lifted, when the lifting plate 100 is lifted to be in butt joint with the transport vehicle on the dock 003, the transverse moving part 300 transversely moves the cargo 006 on the lifting plate 100 out of the lifting plate 100, and the cargo 006 enters the transport vehicle on the dock 003. When the automatic loading and unloading equipment 001 is butted with the manned truck 005, the manned truck 005 is provided with the tail plate corresponding to the wharf 003, at the moment, the lifting plate 100 does not need to be lifted, and the goods 006 on the wharf 003 can be transversely moved to the carriage of the manned truck 005 through the lifting plate 100 with the height equal to the height of the wharf 003 in the butt joint of the boarding 005 and the boarding guard of the manned truck, namely the transverse moving part 300 on the lifting plate 100.

Referring to fig. 3 and 4, in order to increase the stability of the lifting plate 100 during the lifting process, the lifting plate 100 is configured as a bottom plate of the lifting box 010, one side of the lifting box 010 facing the first opening 211 is provided with a third opening, and one side facing the second opening 213 is provided with a fourth opening, so that the cargo 006 can be conveniently moved in and out through the third opening and the fourth opening.

The side wall of the lift box 010 forms a larger contact area with the outer frame 210, thereby increasing the stability of the lift plate 100, so that the outer frame 210 can keep the lift box 010 to keep the lift plate 100 in a horizontal state all the time, and the lift plate 100 is prevented from inclining when bearing heavier goods 006. In addition, the traverse portion 300 is required to be installed on the lifting plate 100, and the side plate of the lifting box 010 can be used as an installation base to facilitate installation of various parts.

Referring to fig. 5, in order to prevent the goods 006 from falling down during the lifting process of the lifting plate 100 and sliding out of the lifting plate 100, in some embodiments, the third opening and the fourth opening are provided with safety doors 011. In other embodiments, a safety door 011 can be provided only at the third opening or the fourth opening to ensure that the tilted cargo 006 can be supported and resisted in one direction.

In order to control the lifting of the lifting plate 100, the lifting driving device 230 includes a first power unit 231 and a first control unit 233, the first power unit 231 provides power for the lifting of the lifting plate 100, and the first control unit 233 is electrically connected to the first power unit 231 to control the power output of the first power unit 231.

The first power unit 231 may be in the form of a motor-driven gear rack, a motor-driven chain transmission, a motor-driven wire rope traction, and the like, and these are commonly used technical means in the field of driving the goods 006 to ascend and descend, and will not be described herein again. Since the lifting plate 100 needs to be docked at various height positions, the lifting height position should be non-jumping, and the lifting plate 100 can be fixed at any position within the whole lifting interval of the lifting plate 100. In order to control the position of the lifting plate 100, a first control unit 233 is provided, and the first control unit 233 may be manually operated or may be interfaced with a sensor, and the lifting and fixing of the lifting plate 100 may be automatically controlled by data information obtained from the sensor.

In order to accurately grasp the height of the lifting plate 100, the first control unit 233 further includes a height sensor 2331, and the height sensor 2331 is disposed in the outer frame 210 for monitoring the height of the lifting plate 100 in the outer frame 210. The height sensor 2331 may be a grating ruler or a hall sensor, and the height sensor 2331 is installed in the outer frame 210 to monitor the height of the lifting plate 100.

The auto-control handling equipment 001 further needs to be docked with an external transportation device 002, so the lifting driving device 230 further comprises a wireless communication unit 235, the wireless communication unit 235 is in wireless communication with the transportation device 002 and is electrically connected with the first control unit 233 to provide the state of the transportation device 002 to the first control unit 233, and the first control unit 233 is convenient for controlling the power output of the first power unit 231.

The traverse section 300 includes a plurality of conveying rollers 330 arranged in parallel for smooth transportation of the goods 006, and the conveying rollers 330 are rotatably coupled to the lifting plate 100. The goods 006 frictionally acts with the transfer roller 330 to be displaced in a direction perpendicular to the transfer roller 330 following the rotation of the transfer roller 330. And the transfer roller 330 has a high strength, is not easily damaged although directly contacting the goods 006 and bearing the weight of the goods 006, has a long service life, and can improve the overall life of the auto-handler 001.

In order to control the traverse of the traverse portion 300, the traverse portion 300 further includes a second power unit having an output end coupled to the conveying roller 330 to drive the conveying roller 330 to rotate, and a second control unit electrically connected to the second power unit to control the power output of the second power unit.

The second power unit may be a motor driven chain, with sprockets at the ends of all of the transfer rollers 330, with the chain sprockets being driven by gears as well. The transmission mode of the transmission roller 330 is a common technical means, and is not described in detail herein. Because the position of the goods 006 needs to be controlled when the removal of goods 006 on sideslip portion 300 needs to be realized on the goods 006 entering lifter plate 100, avoid goods 006 not all to get into lifter plate 100 and result in the lifter plate 100 to descend the time goods 006 are scraped, also need to avoid goods 006 sideslip excessively to lead to goods 006 to transport out and fall from the opposite side of lifter plate 100. The second control unit is thus arranged to control the power output of the second power unit.

In order to control the second power unit more precisely through the second control unit, the second control unit includes a sensor group 350, and the sensor group 350 is fixedly connected to the lifting plate 100 for sensing whether the load bearing surface 101 has the cargo 006. The state of the cargo 006 on the lift plate 100 is judged by the sensor group 350.

Specifically, the sensor group 350 includes a first sensor 351 near the first opening 211, and a second sensor 355 near the second opening 213. The sensor group 350 further includes a presence sensor 353 located between the first sensor 351 and the second sensor 355, the presence sensor 353 having a sensing range covering 30% -70% of the area of the bearing surface 101.

The first sensor 351, the second sensor 355, and the presence sensor 353 are all provided on a side wall of the lift box 010. Whether the goods 006 enter the lift plate 100 can be determined by the first sensor 351, and whether the goods 006 are carried out of the lift plate 100 can be determined by the second sensor 355. The presence of the cargo 006 on the lifting plate 100 can be determined by the presence sensor 353. In order to accurately sense the entrance and exit of the cargo 006 as much as possible, the first sensor 351 is disposed as close to the third opening of the lift box 010 as possible, and the second sensor 355 is disposed as close to the fourth opening of the lift box 010 as possible. To avoid missing detection of the cargo 006 at a low height, the first sensor 351, the second sensor 355 and the presence sensor 353 are located as close as possible to the load surface 101.

In other embodiments, when the lifting board 100 is not formed by the lifting box 010, a side plate needs to be disposed at a side of the lifting board 100, and the side plate needs to extend to above the traverse portion 300.

Since the traverse section 300 employs the conveying roller 330 to traverse the cargo 006, the conveying roller 330 is slightly insufficient in stabilizing the cargo 006, and a clamping device 400 is further provided on the bearing surface 101 in order to stabilize the cargo 006 during the lifting and lowering of the lifting and lowering section 200.

Referring to fig. 4 and 7, an installation space is formed between the conveying rollers 330 and the carrying surface 101, and a gap is formed between two adjacent conveying rollers 330; the clamping device 400 includes two opposing sets of clamping members 410. Referring to fig. 8, each group of clamping members 410 includes a rotating shaft 411 and a plurality of clamping jaws 413, the clamping jaws 413 are circumferentially limited and connected to the rotating shaft 411, the rotating shaft 411 rotates and drives the clamping jaws 413 to rotate, the rotating shaft 411 is rotatably connected to the lifting plate 100, and the rotating shaft 411 rotates to enable the clamping jaws 413 to be switched between a placing state and a clamping state; in the rest state, the clamping jaw 413 is accommodated in the mounting space; in the clamped state, the clamping jaw 413 projects out of the mounting space from the gap.

When the transport of the goods 006 is performed using the transport rollers 330, there may be a phenomenon in which the goods 006 slips on the transport rollers 330. The slippage of the goods 006 on the conveying roller 330 can be effectively prevented by providing the gripping device 400. When the goods 006 are transported from the outside of the lifting plate 100 to the inside of the lifting plate 100, the clamping device 400 is hidden under the conveying rollers 330 without affecting the lateral movement of the goods 006 on the conveying rollers 330.

Because the lifter plate 100 can transport the goods 006 with different sizes, in order to clamp the goods 006 with different sizes firmly, the sliding rails 415 are arranged on the rotating shaft 411 and the lifter plate 100, the rotating shaft 411 is in sliding fit with the lifter plate 100 through the sliding rails 415, and the sliding rails 415 extend in the direction parallel to the conveying rollers 330. In use, if the small goods 006 are clamped, the two sets of rotating shafts 411 are relatively close to each other through the sliding rails 415, so that the clamping space is reduced, and if the large goods 006 are clamped, the two sets of rotating shafts 411 are relatively far away from each other through the sliding rails 415, so that the clamping space is enlarged.

In order to facilitate the worker to manually control the operation of the auto-assembling and disassembling apparatus 001, a control panel 500 is further disposed outside the outer frame 210, and the control panel 500 is electrically connected to the lifting portion 200 and the traverse portion 300.

Through the control panel 500, the worker can autonomously regulate the height position of the lifting plate 100 and regulate the lateral conveyance of the cargo 006 by the traverse section 300.

It should be noted that in other embodiments, the conveying roller 330 of the traverse portion 300 may be replaced by a belt 310 or a caterpillar, and the like, and referring to fig. 6, such a form may increase the force bearing surface with the goods 006 for better load bearing effect, but the installation of the clamping device 400 is no longer convenient.

In other embodiments, the quay 003 may be located below the transport device 002, and in this case, the automatic loading/unloading facility 001 may transport the load at a position lower than the quay 003 to a position higher than the transport device 002, or transport the load at a position higher than the transport device 002 to a position lower than the quay 003.

The application provides an automatic handling equipment 001 can be applied to the unmanned commodity circulation of industrial factory building pier 003 department, through automatic handling equipment 001 with the goods 006 on the eminence pier 003 transport the lifter plate 100 on, transport the carriage height of unmanned commodity circulation car under the pier 003 through lifter plate 100, send into the carriage of unmanned commodity circulation car with goods 006 on the lifter plate 100 again. The problem that the height difference of the industrial factory building wharf 003 is adjusted by using a transportation device 002 such as a forklift 004 by workers is avoided. As shown in fig. 13 and 14, when the manned vehicle 005 is used at the industrial factory building quay 003, the tailboard of the manned vehicle 005 may be laid on the lifting board 100, and the cargo 006 on the quay 003 may be transported into the cabin of the manned vehicle 005 by the lifting board 100 traversing the cargo 006.

Example two

Referring to fig. 15, a second embodiment of the present application provides a method for unloading and loading cargo 006 on a quay 003 into a transport device 002 using the transport device 002 and the automatic loading and unloading equipment 001 provided in the first embodiment, including:

s101: the transport device 002 initiates a docking command to the wireless communication unit 235 electrically connected to the lift driving device 230.

S102: the lifting driving device 230 drives the lifting plate 100 to ascend to the wharf 003 height.

S103: the wireless communication unit 235 sends a start loading command to the transporter 002 and the forklift 004.

S104: the forklift 004 brings the load 006 on the quay 003 to the loading surface 101 to contact the traverse 300, as shown in fig. 9, 10 and 11.

S105: the traverse 300 transports the cargo 006 on the bearing surface 101 to be located entirely on the bearing surface 101.

S106: the transporter 002 is transported to a position below dock 003 where it is docked with the robot 001.

S107: the lift plate 100 is lowered to a height to interface with the transport device 002.

S108: the traverse section 300 transports the cargo 006 to the vehicle compartment near the transport device 002 as shown in fig. 12.

By the automatic loading and unloading method, the goods 006 can be automatically butted and transferred between the goods 006 at the high position on the wharf 003 and the transportation device 002 at the low position under the wharf 003 without manual allocation.

In step S105, it is necessary to automatically determine the position of the cargo 006 on the bearing surface 101 to start and stop the traverse unit 300, and therefore, it is necessary to:

s105 a: the first sensor 351 of the lift plate 100 near the first opening 211 senses the entry of the cargo 006 into the load surface 101.

S105 b: the first sensor 351 sends a command to the traverse 300 to activate the traverse 300.

S105 c: the wireless communication unit 235 sends an instruction to the forklift 004 to drive the forklift 004 to unload goods;

s105 d: the traverse section 300 transports the cargo 006 toward the position of the second opening 213 until the cargo 006 is sensed by the second sensor 355 on the lifting plate 100 near the second opening 213.

S105 e: the second sensor 355 sends an instruction to the traverse 300 to stop the traverse 300.

Since the traverse section 300 can carry the cargo 006 only to the end of the carriage after the robot 001 is docked with the carriage of the transporter 002, the method further includes the following steps after step S108:

s109: the cargo transport portion in the vehicle compartment transports the cargo 006 transported by the traverse portion 300 to a predetermined position in the vehicle compartment.

Wherein, the shipment transportation portion can be the inclined plane of carriage bottom, through the slowly stretching out of sliding to the carriage of self gravity of goods 006. It is also possible to provide rollers at the bottom of the car, which can be driven, to drive the goods 006 to a preset position.

In order to avoid the traverse portion 300 from continuously idling after the cargo 006 is carried out, the step S108 includes:

s108 a: the second sensor 355 on the lifting plate 100 near the second opening 213 senses the transport of the cargo 006.

S108 b: the second sensor 355 sends an instruction to the traverse 300 to stop the traverse 300.

When the forklift 004 transports the goods 006 on the dock 003 to the carrying surface 101, the transportation device 002 also needs to complete the butt joint with the automatic loading and unloading equipment 001 in time, so as to avoid that the transportation device 002 cannot take the goods 006 when the goods 006 are transported out of the lifting plate 100. Therefore, step S106 further includes:

s106 a: the transport unit 002 is adjacent to the auto-handler 001.

S106 b: the docking sensor of the robot 001 senses the attitude of the transporter 002.

S106 c: when the posture of the transport device 002 meets the butt joint requirement, the carriage of the transport device 002 is opened.

S106 d: the transport unit 002 sends a seating command to the wireless communication unit 235.

Since the docking of the transport unit 002 and the robot 001 needs to ensure a proper interval and also needs the transport unit 002 to have a reasonable posture toward the lifting plate 100. Therefore, after S106a, it is necessary to include a step for repeatedly adjusting the posture of the transportation device 002:

s106 a': when the posture of the transport device 002 does not satisfy the docking request, the transport device 002 is separated from the automatic handling equipment 001, and the process returns to step S106 a.

In summary, a method for automatically loading and unloading goods, which can cope with most problems in the process of automatically loading and unloading goods, comprises the following steps at the end of an automatic loading and unloading goods device:

the transportation device 002 starts a docking instruction to the wireless communication unit 235 electrically connected to the elevation driving device 230;

the lifting driving device 230 drives the lifting plate 100 to ascend to the wharf 003 height;

the wireless communication unit 235 sends a start loading instruction to the transport device 002 and the forklift 004;

the forklift 004 sends the goods 006 on the wharf 003 to the bearing surface 101 to contact with the cross sliding part 300;

the first sensor 351 on the lifting plate 100 near the first opening 211 senses that the cargo 006 enters the bearing surface 101;

the first sensor 351 sends an instruction to the traverse 300 to activate the traverse 300;

the wireless communication unit 235 sends an instruction to the forklift 004 to drive the forklift 004 to unload goods;

the traverse section 300 transports the cargo 006 to the position of the second opening 213 until the cargo 006 is sensed by the second sensor 355 on the lifting plate 100 near the second opening 213;

the second sensor 355 sends a command to the traverse 300 to stop the traverse 300, and the traverse 300 transports the cargo 006 on the bearing surface 101 to the position entirely on the bearing surface 101;

the transportation device 002 is transported to a position below the wharf 003 and butted with the automatic loading and unloading equipment 001;

the lifting plate 100 is lowered to a height to abut against the transport device 002;

the traverse section 300 transports the cargo 006 to the carriage near the transport device 002;

the second sensor 355 on the lifting plate 100 near the second opening 213 senses the transport of the cargo 006;

the second sensor 355 sends an instruction to the traverse 300 to stop the traverse 300.

Accordingly, a method for handling a plurality of problems during a process of loading/unloading a load onto/from a transport unit 002 includes the steps of:

starting a docking instruction of the transportation device 002 to the wireless communication unit 235 electrically connected to the lifting driving device 230;

the transport device 002 is close to the automatic handling equipment 001;

the docking sensor of the automatic handling equipment 001 senses the attitude of the transporter 002;

when the posture of the transport device 002 meets the butt joint requirement, the carriage of the transport device 002 is opened; when the posture of the transport device 002 does not meet the butt joint requirement, the transport device 002 is far away from the automatic handling equipment 001, and the transport device 002 returns to be close to the automatic handling equipment 001;

the transporter 002 sends a seating command to the wireless communication unit 235;

the cargo transport portion in the vehicle compartment transports the cargo 006 transported by the traverse portion 300 to a predetermined position in the vehicle compartment.

The automatic loading and unloading method can be applied to unmanned logistics at the wharf 003 of an industrial factory building, goods 006 on the high wharf 003 are conveyed to the lifting plate 100 through the automatic loading and unloading equipment 001, the height of a carriage of an unmanned logistics vehicle under the wharf 003 is conveyed through the lifting plate 100, and the goods 006 on the lifting plate 100 are conveyed into the carriage of the unmanned logistics vehicle. The problem that the height difference of the industrial factory building wharf 003 is adjusted by using a transportation device 002 such as a forklift 004 by workers is avoided. And the opening and closing of the traverse portion 300 and the opening and closing of the lifting driving device 230 are realized by the communication butt joint of the unmanned logistics vehicle and the automatic loading and unloading equipment, thereby really realizing the unmanned operation.

In addition, other changes may be made by those skilled in the art within the spirit of the present application, and it is understood that such changes are encompassed within the scope of the present disclosure.

Claims

1. An automatic loading and unloading device for loading and unloading goods on a wharf, comprising a lifting plate and a transmission device, wherein the lifting plate is provided with a loading surface for bearing the goods, and the transmission device transmits the goods on the loading surface to be displaced between a unloading position and a loading position with a height difference, and is characterized in that:

the transmission device comprises a lifting part and a transverse moving part;

the lifting part comprises an outer frame and a lifting driving device, the lifting plate is accommodated in the outer frame, the driving end of the lifting driving device drives the lifting plate to lift in the outer frame, and the outer frame is provided with a first opening facing the wharf and a second opening deviating from the wharf;

the transverse moving part is arranged on the bearing surface and used for driving goods to enter or be transported out of the bearing surface.

2. The auto-handler of claim 1, wherein the lift driving device comprises a first power unit and a first control unit, the first power unit provides power for the lift of the lift plate, and the first control unit is electrically connected to the first power unit to control the power output of the first power unit.

3. The auto-handler of claim 2, wherein the first control unit comprises a height sensor disposed within the housing for monitoring a height of the lifter plate within the housing.

4. The auto-handler of claim 2, wherein the lift drive further comprises a wireless communication unit, the wireless communication unit being electrically connected to the first control unit, the wireless communication unit being adapted to communicate with a transport device that transports the cargo outside of the load bearing surface.

5. The automated handling apparatus of claim 1, wherein the traverse section comprises a conveyor belt having a non-slip surface disposed thereon.

6. The robot handling apparatus of claim 1, wherein the traverse section includes a plurality of conveying rollers arranged side by side, the conveying rollers being rotatably coupled to the elevating plate.

7. The auto-handler of claim 6, wherein the traverse section further comprises a second power unit having an output end coupled to the transport roller to drive the transport roller to rotate, and a second control unit electrically connected to the second power unit to control a power output of the second power unit.

8. The robotic handler of claim 7, wherein the second control unit includes a sensor group fixedly coupled to the lifter plate for sensing whether cargo is present on the carrying surface.

9. The robotic handling device of claim 8, wherein the sensor group includes a first sensor proximate the first opening and a second sensor proximate the second opening.

10. The robotic handling device of claim 9, wherein said sensor group further comprises a presence sensor positioned between said first sensor and said second sensor, said presence sensor having a sensing range covering more than 30% of the area of said load-bearing surface.

11. The automated handling apparatus of claim 6, wherein the carrying surface is further provided with a gripping device;

12. The auto-handler of claim 11, wherein the shaft and the lift plate are provided with slide rails, the shaft being slidably engaged with the lift plate via the slide rails, the slide rails extending in a direction parallel to the transfer roller.

13. The automatic handling equipment according to claim 1, wherein a lifting box is provided in the outer frame, and a bottom of the lifting box forms the lifting plate;

14. The auto-handler of claim 13, wherein the third opening and/or the fourth opening is provided with a safety door.

15. The robotic handling device of claim 1, further comprising a control panel electrically connected to the elevator portion and the traverse portion.

16. A method of loading and unloading a load on a quay and loading the load into a transport means using the transport means and a robot as claimed in any one of claims 1 to 15, comprising:

the transportation device is transported to a position for docking with the automatic loading and unloading equipment;

17. A method of handling cargo as claimed in claim 16, wherein the step of transporting the cargo on the load-supporting surface to all locations on the load-supporting surface at the traverse section comprises:

18. The method of loading and unloading a load according to claim 16, wherein after the traverse section transports the load to a car near the transport device, the method further comprises:

19. The method of loading and unloading a load according to claim 16, wherein the step of the traverse section transporting the load to a car adjacent to the transport device further comprises:

20. The method of handling robot cargo of claim 16 wherein in the step of transporting the transporter to a position for docking with the robot, further comprising:

21. The method of handling a load and unload cargo of claim 20, wherein after the step of the docking sensor of the robot sensing the attitude of the transporter, further comprising:

returning the transporter to approach the auto-handler.