CN113525557A

CN113525557A - Self-adaptive trolley loading and unloading system

Info

Publication number: CN113525557A
Application number: CN202110821130.1A
Authority: CN
Inventors: 李娜; 李新亮; 李志勇
Original assignee: Yuxi Xinte Technology Co Ltd
Current assignee: Yuxi Xinte Technology Co Ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2021-10-22
Anticipated expiration: 2041-07-20
Also published as: CN113525557B

Abstract

The invention discloses a self-adaptive trolley loading and unloading system which comprises a Mecanum wheel trolley assembly, a rotary supporting joint assembly, a middle section conveying belt conveyor assembly, a cross hinged rotary joint assembly, a front end unstacking assembly, a cross hinged rotary follow-up joint assembly, an inlet telescopic belt conveyor assembly, an inlet belt conveyor support assembly and a box type material, wherein the Mecanum wheel trolley assembly comprises a front laser scanning radar, a rear laser positioning radar, a rear collision-prevention radar and AGV collision-prevention strips on two sides; the device is an integrated box type material conveying, stacking and unstacking integrated device, and is suitable for box type materials; the equipment is provided with a trolley navigation system, so that the unstacking and stacking of materials in a certain area range can be realized, and the unstacking and stacking of the materials on a truck can also be realized; the device is provided with the trolley omnidirectional walking device, and can be driven into the truck to perform the functions of unstacking, stacking and transporting box-type materials.

Description

Self-adaptive trolley loading and unloading system

Technical Field

The invention belongs to the technical field of box type cargo handling, and particularly relates to a self-adaptive trolley handling system.

Background

The use of automation technology on logistics production lines has been widespread for a long time, but the degree of automation on loading and unloading platforms is still not high, and in most cases, workers are required to perform manual labor to stack and unload each box manually, so that the invention provides an adaptive trolley loading and unloading system.

Disclosure of Invention

The invention aims to provide a self-adaptive trolley loading and unloading system which mainly integrates an AGV trolley, a mechanical arm, a vision system and a hinged conveyor, is an integrated box-type material conveying, stacking and disassembling integrated device and is suitable for materials which are box-type materials; the self-carrying trolley navigation system can realize the unstacking and stacking of materials in a certain area range and can also realize the unstacking and stacking of the materials on a truck. The design mainly aims at realizing the unstacking and stacking of materials on the truck, and the truck with the trolley omnidirectional walking device can be driven into the truck to perform the functions of unstacking, stacking and transporting box-type materials, so that the problems in the background art are solved.

In order to achieve the purpose, the invention provides the following technical scheme: self-adaptation dolly handling system, including mecanum wheel dolly subassembly, gyration support joint subassembly, interlude belt conveyor subassembly, cross articulated gyration joint subassembly, front end unstacking subassembly, cross articulated gyration follow-up joint subassembly, the flexible belt conveyor subassembly of entry, entry belt conveyor pillar subassembly and box material, mecanum wheel dolly subassembly includes plantago laser scanning radar, car back laser positioning radar, car back anticollision radar, both sides AGV anticollision strip, front and back AGV anticollision strip, some laser rangefinder sensor, dolly frame subassembly, mecanum wheel subassembly and dolly chassis protection subassembly, gyration support joint subassembly includes first joint gyration mounting flange, first joint cross roller bearing, RV reduction gear, motor mounting panel, first joint input motor, first joint input reduction gear, reduction gear output connection shell fragment, The device comprises a reducer output connecting rod, a gas spring fixed end mounting seat, a rotary machine body assembly, a two-three rotary joint RV reducer, a two-three rotary joint motor mounting plate, a two-three rotary joint output motor, a two-three rotary joint crossed roller bearing, a gas spring, a second joint rotary swing arm assembly, a second joint rotary swing arm far-end rotary shaft, a third joint rotary swing arm assembly, a third joint rotary swing arm far-end rotary shaft, a third joint rotary connecting rod assembly and a square seat bearing A, wherein the middle-section belt conveyor assembly comprises a belt conveyor rack assembly, a rear-end belt conveyor assembly, a front-end belt conveyor assembly, a belt conveyor chain wheel transmission assembly, a belt conveyor flange plate assembly, a gas spring moving end mounting seat, a square seat bearing B, a belt conveyor driving motor reducer and a material detection switch, the crossed hinged rotary joint component comprises a fourth rotary joint synchronous belt transmission component, a fourth rotary joint RV speed reducer, a crossed hinged rotary seat, a fourth rotary joint input shaft, a fourth rotary joint speed reducer A, a fourth rotary joint motor, a fifth rotary joint RV speed reducer, a fifth rotary joint input shaft, a fourth rotary joint speed reducer B, a fifth rotary joint motor input gear, a fifth rotary joint motor transmission gear, a connecting spacer bush, a fifth rotary joint output lower connecting plate, a fifth rotary joint output upper connecting plate and a fifth rotary joint motor mounting plate, the front end unstacking component comprises a stacking speed reducer, a stacking motor, a material detection sensor A, a left and right laser range finder, an upper and lower laser range finder, a front end unstacking device rack component, a unstacking device synchronous belt conveying component, a stacking mechanism and a stacking mechanism conveying component, The device comprises a cylinder sucker pile dismounting device, a cylinder linear guide fixing seat, a linear guide A, a rodless cylinder, a sliding block assembly, a fixed end rotating shaft, a movable connecting rod, a supporting shaft, a sucker rotating air distribution support seat, a sucker and two-side material flange assemblies, wherein the cross-shaped cross hinged rotary follow-up joint assembly comprises a middle belt conveyor assembly fixing shaft, an angular contact ball bearing, a cross joint bearing seat, a joint bearing, a bearing seat, a deep groove ball bearing and a telescopic belt conveyor fixing shaft, the inlet telescopic belt conveyor assembly comprises a linear guide, a linear slider, a first motor, a first speed reducer, a second motor, a second speed reducer, a material detection sensor B, a supporting rotating shaft, a telescopic belt conveyor fixing end frame assembly, a telescopic belt conveyor fixing end conveying assembly, a telescopic belt conveyor chain wheel transmission assembly, a telescopic sliding end frame assembly, a movable connecting rod, a supporting shaft, a movable connecting shaft, a supporting shaft, a movable connecting shaft, a supporting shaft, a telescopic belt, a linear guide fixing shaft, a linear guide fixing seat, a linear guide fixing shaft, a sucker rotating shaft, a sucker, the inlet belt conveyor strut assembly comprises a slewing bearing, a bearing C with a square seat, an inlet belt conveyor strut combination and a cross hinged seat combination, the inlet belt conveyor strut assembly and the inlet belt conveyor strut assembly are connected by adopting a cross hinged structure, the inlet belt conveyor strut assembly can surround the inlet belt conveyor strut assembly to realize rotation of multiple degrees of freedom, the cross hinged rotary follow-up joint assembly is installed at the joint of the inlet belt conveyor strut assembly and the middle section belt conveyor assembly, the cross hinged rotary follow-up joint assembly is installed at the telescopic end of the inlet belt conveyor assembly, the two-three rotary joint output motor, the two-three rotary joint motor mounting plate and the two-three rotary joint RV reducer are installed in a matched mode to form a slewing end of the inlet belt conveyor strut assembly, and the two-three rotary joint output motor mounting plate and the two-three rotary joint RV reducer are installed on the slewing end of the two-three rotary joint motor mounting plate Organism subassembly one end, the articulated installation of second joint gyration swing arm subassembly one end the interlude belt conveyor subassembly, two-three gyration joint output motor, two-three gyration joint motor mounting panels and two-three gyration joint RV reduction gear cooperation are installed the gyration organism subassembly other end, the articulated third joint gyration swing arm subassembly of connecting of third joint gyration link assembly one end, other end articulated connection interlude belt conveyor subassembly, second joint gyration swing arm subassembly department forms a rotation point around the circle, just third joint gyration swing arm subassembly, third joint gyration link assembly cooperation are used in on the interlude belt conveyor subassembly, interlude belt conveyor subassembly is installed on gyration support joint subassembly, interlude belt conveyor subassembly drives through cross articulated gyration follow-up joint subassembly the flexible subassembly of entry belt conveyor around entry strut group A plurality of degrees of freedom are rotatory, the articulated revolute joint subassembly of cross is installed on interlude belt conveyor subassembly, two cross directions of the articulated revolute joint subassembly of cross are connected to the front end by the final delivery end of motor drive RV reduction gear and break a yard buttress subassembly, the transmission of motor drive RV reduction gear is all adopted to the three joint on the revolute support joint subassembly, the cooperation of revolute support joint subassembly and the articulated revolute joint subassembly of cross is five-axis linkage.

Preferably, four sets of Mecanum wheel assemblies are installed to the dolly frame subassembly, install plantago laser scanning radar and car back laser positioning radar around Mecanum wheel dolly subassembly respectively, both sides AGV anticollision strip encircles dolly chassis protection component installation with front and back AGV anticollision strip.

Preferably, the first joint rotary mounting flange is fixedly installed on a trolley frame assembly, the outer ring of the first joint crossed roller bearing is fixedly installed on the first joint rotary mounting flange, the inner ring of the first joint crossed roller bearing is fixedly installed on a rotary engine body assembly, the fixed end of the RV reducer is fixedly installed on the first joint rotary mounting flange, the motor mounting plate is installed on the fixed end surface of the RV reducer, the first joint input motor is connected with the first joint input reducer in an installing way, the first joint input reducer is connected with the input end of the RV reducer, the output end of the RV reducer is fixedly connected with the output connecting elastic sheet of the reducer, the output connecting rod of the intermediate transition reducer of the output connecting elastic sheet of the reducer is finally connected with the rotary engine body assembly, the fixed ends of the two-three rotary joint RV reducers are respectively installed on two sides of the rotary engine body assembly, the input fixed end of the motor of the two-three rotary joint RV reducer is arranged on a two-three rotary joint motor mounting plate, the two-three rotary joint output motor is arranged on the two-three rotary joint motor mounting plate, the input end of the two-three rotary joint output motor is connected with the input end of the two-three rotary joint RV reducer, one side of the near end of the second joint rotary swing arm component is arranged on the output end of the two-three rotary joint RV reducer, the other side of the near end of the second joint rotary swing arm component is arranged on the rotary inner ring of the two-three rotary joint crossed roller bearing, the outer ring of the two-three rotary joint crossed roller bearing is arranged and fixed on the rotary machine body component, the far end of the second joint rotary swing arm component is provided with a far-end rotary shaft of the second joint rotary swing arm, the two sides of a far-end rotating shaft of the second joint rotary swing arm are respectively fixedly connected with rotary inner rings with square-seat bearings B, the two square-seat bearings B are respectively fixedly installed on the two sides of a belt conveyor frame assembly, one side of the near end of a third joint rotary swing arm assembly is installed on the output end of a two-three rotary joint RV reducer, the other side of the near end of the third joint rotary swing arm assembly is installed on the rotary inner ring of a two-three rotary joint crossed roller bearing, the outer ring of the two-three rotary joint crossed roller bearing is installed and fixed on a rotary machine body assembly, the far end of the third joint rotary swing arm assembly is provided with a far-end rotating shaft of a third joint rotary swing arm, the two sides of the far-end rotating shaft of the third joint rotary swing arm are respectively fixedly connected with rotary inner rings with square-seat bearings A, and the two square-seat bearings A are respectively installed and fixedly installed on the two sides of the near end of a third joint rotary connecting rod assembly, install two square seat bearing A of area on the third joint gyration link assembly distal end both sides respectively, third joint gyration link rod fixed axle both ends and the gyration inner circle of taking square seat bearing A connect fixedly, the air spring stiff end mount pad is installed on gyration organism subassembly, the air spring removes the end mount pad and installs on the belt conveyor subassembly of interlude, the air spring stiff end is installed on the air spring stiff end mount pad, the air spring removes the end and installs on the air spring removes the end mount pad.

Preferably, interlude belt conveyor subassembly constitutes for two sections belt conveyor subassemblies, is rear end belt conveyor subassembly and front end belt conveyor subassembly respectively, rear end belt conveyor subassembly and front end belt conveyor subassembly are all installed on belt conveyor frame subassembly, independent belt conveyor driving motor, belt conveyor driving motor reduction gear, belt conveyor sprocket drive subassembly and material detection switch are all installed to rear end belt conveyor subassembly and front end belt conveyor subassembly, belt conveyor flange board subassembly is all installed to belt conveyor frame subassembly both sides.

Preferably, two fixed ends of the fourth rotary joint RV reducer are respectively installed at two sides of the belt conveyor frame assembly, the fourth rotary joint reducer A is installed and fixed on the belt conveyor frame assembly, the fourth rotary joint reducer A and a fourth rotary joint motor are installed and connected together, a fourth rotary joint input shaft is installed and fixed on the input ends of the two fourth rotary joint RV reducers, one end of a fourth rotary joint synchronous belt transmission assembly is connected to the fourth rotary joint reducer A, the other end of the fourth rotary joint synchronous belt transmission assembly is connected to the fourth rotary joint input shaft, the cross-shaped hinged rotary seat is installed and fixed on the output ends of the two fourth rotary joint RV reducers, the two fixed ends of the fifth rotary joint RV reducers are respectively installed on the cross-shaped hinged rotary seat and a fifth rotary joint motor installation plate in an up-down symmetrical mode, and the fifth rotary joint motor installation plate is installed and fixed on the cross-shaped hinged rotary seat, the fourth rotary joint reducer B is fixedly installed on a fifth rotary joint motor installation plate, the fourth rotary joint reducer B and a fifth rotary joint motor are connected together in an installation mode, a fifth rotary joint motor input gear is installed on the fourth rotary joint reducer B, a fifth rotary joint motor transmission gear is installed on a fifth rotary joint input shaft, the fifth rotary joint motor input gear and the fifth rotary joint motor transmission gear are in gear meshing transmission, the lower portion of the fifth rotary joint output lower connecting plate is connected with a spacer sleeve in a matched mode in the middle of the connecting plate and installed at the drive output end of the fifth rotary joint RV reducer, and the fifth rotary joint output upper connecting plate is installed at the drive output end of the upper fifth rotary joint RV reducer.

Preferably, the lower connecting plate output by the fifth rotary joint is connected with a front-end unstacking and stacking device rack assembly in an installing manner, the synchronous belt conveying assembly of the front-end unstacking and stacking device is installed on the two inner sides of the front-end unstacking and stacking device rack assembly, the stacking speed reducer is installed on the front-end unstacking and stacking device rack assembly, the stacking speed reducer is connected with a stacking motor in an installing manner, the output shaft of the synchronous belt conveying assembly of the front-end unstacking and stacking device is connected with the stacking speed reducer in an installing manner, the cylinder sucker unstacking and stacking device is installed on the inner side of the front-end unstacking and stacking device rack assembly, the material baffle side assemblies on the two sides are installed on the two sides of the front-end unstacking and stacking device rack assembly, the material detection sensor A is installed on the two sides of the front-end unstacking and stacking device rack assembly, the left and right laser range finders are installed on the material baffle side assemblies on the two sides, the upper and the lower laser range finders are installed on the material baffle side assemblies on the two sides, cylinder linear guide fixing base and stiff end rotation axis installation are fixed on the front end device frame subassembly of breaking a yard, linear guide A and rodless cylinder stiff end installation are fixed on cylinder linear guide fixing base, rodless cylinder linear sliding end and slider component erection joint are in the same place, swing joint pole one end is installed on slider component, the swing joint pole other end is installed and is cooperated installation supporting axle in the middle of on the rotatory gas distribution support of sucking disc, the rotatory gas distribution support hinged mounting of sucking disc is on the stiff end rotation axis, install the sucking disc on the rotatory gas distribution support of sucking disc.

Preferably, the fixed shaft of the middle conveying belt conveyor assembly is installed on the belt conveyor frame assembly, the fixed shaft of the middle conveying belt conveyor assembly is installed in a matched mode through an inner ring of an angular contact ball bearing, a cross joint bearing seat is installed in a matched mode through an outer ring of the angular contact ball bearing, a rotary end of the joint bearing is installed on the cross joint bearing seat, a fixed end of the joint bearing is installed on the bearing seat, an outer ring of a deep groove ball bearing is installed and fixed on the bearing seat in a matched mode, an inner ring of the deep groove ball bearing is installed and fixed on the fixed shaft of the telescopic belt conveyor, and the fixed shaft of the telescopic belt conveyor is installed and fixed on the frame assembly of the sliding end of the telescopic belt conveyor.

Preferably, the supporting rotary shaft is arranged on a square bearing C, the telescopic belt conveyor sliding end frame component is connected with a telescopic belt conveyor fixed shaft in an installing way, a linear guide rail is fixedly arranged on the telescopic belt conveyor fixed end frame component, a linear slide block is fixedly arranged on the telescopic belt conveyor sliding end frame component, the telescopic belt conveyor fixed end conveying component is fixedly arranged on the telescopic belt conveyor fixed end frame component, the telescopic belt conveyor sliding end frame component and the telescopic belt conveyor sliding end conveying component are arranged in the middle of the telescopic belt conveyor fixed end frame component and the telescopic belt conveyor fixed end conveying component, the first speed reducer is fixedly arranged on the telescopic belt conveyor fixed end frame component, the first motor is connected with the first speed reducer in an installing way, the telescopic belt conveyor sliding end conveying component is arranged on the telescopic belt sliding end frame component, the first speed reducer is installed on a machine frame assembly of the sliding end of the telescopic belt conveyor, the second motor is connected with the second speed reducer in an installing mode, the flange assembly of the telescopic belt conveyor is installed and fixed on the machine frame assembly of the fixed end of the telescopic belt conveyor, and the material detection sensor B is installed and fixed on the flange assembly of the telescopic belt conveyor.

Preferably, the lower part of the inlet belt conveyor strut assembly is fixedly arranged on the trolley frame assembly, the upper part of the inlet belt conveyor strut assembly is fixedly provided with a rotary bearing outer ring, the bottom of the cross-shaped hinged seat assembly is arranged on a rotary inner ring of the rotary bearing, the upper part of the cross-shaped hinged seat assembly is symmetrically provided with fixed belt square seat bearings C, and the rotary inner ring of the bearing C with the square seat is fixedly arranged on a supporting rotary shaft.

Compared with the prior art, the invention has the beneficial effects that:

1. the labor cost is reduced, the loading and unloading operation is often the main work type which causes the warehouse workers to be injured, and the occurrence of the injuries is completely eradicated through the automation of the loading and unloading process. The breakthrough of the automation of the loading and unloading link can further reduce the personnel investment and the labor cost, and the workers can also invest in more important work with higher value.

2. The operation efficiency is improved, the operation efficiency can be greatly improved by the automatic loading and unloading, the robot system is never tired and interrupted, the robot system can run in all weather, and one set of system can cover a plurality of shifts. ULTRA can provide high precision and reliability through a vision system, the operation and maintenance cost is low, and the system investment return period can be reached only by 1-2 years.

3. The freight cost is reduced, the self-adaptive trolley loading and unloading system has the other great advantage that each vehicle is ensured to obtain the highest space utilization rate, and the goods can be effectively stacked from the bottom plate to the top plate of the container of the truck by loading through the visual system, so that the freight cost is saved, and the freight cost is reduced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of a Mecanum wheel carriage assembly of the present invention;

FIG. 3 is a perspective view of a Mecanum wheel cart assembly of the present invention;

FIG. 4 is an elevation view of a pivoting support joint assembly of the present invention;

FIG. 5 is a perspective view of a pivoting support joint assembly of the present invention;

FIG. 6 is a top cross-sectional view of the intermediate conveyor assembly of the present invention;

FIG. 7 is a front elevation view of the intermediate conveyor assembly of the present invention;

FIG. 8 is a top plan view of the intermediate conveyor assembly of the present invention;

FIG. 9 is a top view of the cross-link swivel assembly of the present invention;

FIG. 10 is an elevational view of the cross-link swivel assembly of the present invention;

FIG. 11 is a perspective view of the front end unstacking assembly of the present invention;

FIG. 12 is a top view of the front end unstacking assembly of the present invention;

FIG. 13 is a perspective view of the cylinder suction cup unstacking and stacking device of the present invention;

FIG. 14 is a perspective view of the cross-hinged revolute joint assembly of the present invention;

FIG. 15 is a front elevational view of the inlet telescopic belt assembly of the present invention;

FIG. 16 is a cross-sectional view taken at A-A of FIG. 15 in accordance with the present invention;

FIG. 17 is a top plan view of the inlet telescopic belt assembly of the present invention;

FIG. 18 is a front elevation view of an inlet belt strut assembly of the present invention;

in the figure: 1. a Mecanum wheel carriage assembly; 102. a vehicle front laser scanning radar; 103. laser positioning radar behind the vehicle; 104. a rear anti-collision radar; 105. AGV anti-collision strips on two sides; 106. front and rear AGV bumper strips; 107. a point laser ranging sensor; 11. a trolley frame assembly; 12. a Mecanum wheel assembly; 15. a trolley chassis protection component; 2. a slewing support joint assembly; 201. a first joint rotation mounting flange; 202. a first articulating cross roller bearing; 203. an RV reducer; 204. a motor mounting plate; 205. a first joint input motor; 206. a first joint input reducer; 207. the output of the speed reducer is connected with the elastic sheet; 208. the output connecting rod of the speed reducer; 209. a mounting seat for the fixed end of the gas spring; 21. a rotating machine body assembly; 210. a two-three rotary joint RV reducer; 211. a two-three rotary joint motor mounting plate; 212. a two-three rotary joint output motor; 213. a two-three rotary joint crossed roller bearing; 22. a gas spring; 23. a second articulated swing arm assembly; 231. a far-end rotating shaft of the second joint rotating swing arm; 24. a third joint swing arm assembly; 241. a third joint rotary swing arm far-end rotary shaft; 25. a third joint swivel link assembly; 251. a bearing A with a square seat; 3. a middle section belt conveyor assembly; 31. a belt conveyor frame assembly; 32. a third joint rotation connecting rod fixing shaft; 33. a rear end belt conveyor assembly; 34. a front end belt conveyor assembly; 35. a belt conveyor chain wheel transmission component; 36. a belt conveyor flange plate component; 300. a gas spring moving end mounting seat; 301. a bearing B with a square seat; 302. a belt conveyor driving motor; 303. a belt conveyor driving motor reducer; 304. a material detection switch; 4. a cross-hinged revolute joint assembly; 42. a fourth rotary joint synchronous belt transmission component; 401. a fourth revolute joint RV reducer; 402. a cross-shaped hinged rotary seat; 403. a fourth revolute joint input shaft; 404. a fourth slewing joint reducer a; 405. a fourth rotary joint motor; 406. a fifth revolute joint RV reducer; 407. a fifth revolute joint input shaft; 408. a fourth revolute joint reducer B; 409. a fifth rotary joint motor; 410. a fifth rotary joint motor input gear; 411. a fifth rotary joint motor transmission gear; 412. connecting the spacer bush; 413. a fifth rotary joint outputs a lower connecting plate; 414. the fifth rotary joint outputs an upper connecting plate; 415. a fifth rotary joint motor mounting plate; 5. a front-end unstacking assembly; 501. a stacking speed reducer; 502. a palletizing motor; 503. a material detection sensor A; 504. a left and a right laser range finder; 505. an upper and lower laser range finder; 51. a front-end unstacking and stacking device rack assembly; 52. the synchronous belt conveying assembly of the unstacking device; 53. the cylinder sucker unstacking and stacking device; 531. a cylinder linear guide rail fixing seat; 532. a linear guide rail A; 533. a rodless cylinder; 534. a slider assembly; 535. a fixed end rotating shaft; 536. a movable connecting rod; 537. a support shaft; 538. the sucker rotates the gas distribution support; 539. a suction cup; 54. the material flange components on two sides; 6. the cross hinge joint rotates the follower joint assembly; 601. a middle belt conveyor component fixing shaft; 602. angular contact ball bearings; 603. a cross joint bearing seat; 604. a knuckle bearing; 605. a bearing seat; 606. a deep groove ball bearing; 607. a fixed shaft of the telescopic belt conveyor; 7. an inlet telescopic belt conveyor assembly; 701. a linear guide rail; 702. a linear slider; 703. a first motor; 704. a first decelerator; 705. a second motor; 706. a second decelerator; 707. a material detection sensor B; 708. supporting the rotating shaft; 71. the telescopic belt conveyor fixing end frame component; 72. a conveying component at the fixed end of the telescopic belt conveyor; 73. a chain wheel transmission component is arranged at the fixed end of the telescopic belt conveyor; 74. the telescopic belt conveyor sliding end frame component; 75. a sliding end conveying assembly of the telescopic belt conveyor; 76. a chain wheel transmission component at the sliding end of the telescopic belt conveyor; 77. the flange component of the telescopic belt conveyor; 8. an inlet belt conveyor strut assembly; 801. a slew bearing; 802. a bearing C with a square base; 81. combining the inlet belt conveyor pillars; 82. the cross-shaped hinged seat is combined; 9. and (5) box-type materials.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

Referring to fig. 1 to 18, the present invention provides a technical solution: a self-adaptive trolley handling system comprises a Mecanum wheel trolley assembly 1, a rotary supporting joint assembly 2, an intermediate section belt conveyor assembly 3, a cross hinged rotary joint assembly 4, a front end unstacking assembly 5, a cross hinged rotary follow-up joint assembly 6, an inlet telescopic belt conveyor assembly 7, an inlet belt conveyor strut assembly 8 and box type materials 9, wherein the Mecanum wheel trolley assembly 1 comprises a front laser scanning radar 102, a rear laser positioning radar 103, a rear collision prevention radar 104, two side AGV collision prevention strips 105, a front AGV collision prevention strip 106, a point laser ranging sensor 107, a trolley frame assembly 11, a Mecanum wheel assembly 12 and a trolley chassis protection assembly 15, the rotary supporting joint assembly 2 comprises a first joint rotary mounting flange 201, a first joint cross roller bearing 202, an RV reducer 203, a motor mounting plate 204, a first joint input motor 205, a first joint cross roller bearing 202, a RV reducer 203, a motor mounting plate 204, a first joint input motor 205, A first joint input reducer 206, a reducer output connecting elastic sheet 207, a reducer output connecting rod 208, a gas spring fixed end mounting seat 209, a rotary machine body assembly 21, a two-three rotary joint RV reducer 210, a two-three rotary joint motor mounting plate 211, a two-three rotary joint output motor 212, a two-three rotary joint crossed roller bearing 213, a gas spring 22, a second joint rotary swing arm assembly 23, a second joint rotary swing arm far-end rotary shaft 231, a third joint rotary swing arm assembly 24, a third joint rotary swing arm far-end rotary shaft 241, a third joint rotary link assembly 25 and a bearing A251 with a square seat, wherein the middle-section conveying belt machine assembly 3 comprises a belt machine frame assembly 31, a rear-end belt conveyor assembly 33, a front-end belt conveyor assembly 34, a belt machine chain wheel transmission assembly 35, a side baffle plate assembly 36, The air spring moving end mounting seat 300, the bearing B301 with the square seat, the belt conveyor driving motor 302, the belt conveyor driving motor reducer 303 and the material detection switch 304, the cross-shaped hinged rotary joint component 4 comprises a fourth rotary joint synchronous belt transmission component 42, a fourth rotary joint RV reducer 401, a cross-shaped hinged rotary seat 402, a fourth rotary joint input shaft 403, a fourth rotary joint reducer A404, a fourth rotary joint motor 405, a fifth rotary joint RV reducer 406, a fifth rotary joint input shaft 407, a fourth rotary joint reducer B408, a fifth rotary joint motor 409, a fifth rotary joint motor input gear 410, a fifth rotary joint motor transmission gear 411, a connecting spacer 412, a fifth rotary joint output lower connecting plate 413, a fifth rotary joint output upper connecting plate 414 and a fifth rotary joint motor mounting plate 415, the front end destacking component 5 comprises a palletizing reducer 501, The device comprises a stacking motor 502, a material detection sensor A503, a left and right laser range finder 504, an up and down laser range finder 505, a front-end stacking disassembling device rack assembly 51, a stacking disassembling device synchronous belt conveying assembly 52, a cylinder suction cup stacking disassembling device 53, a cylinder linear guide rail fixing seat 531, a linear guide rail A532, a rodless cylinder 533, a sliding block assembly 534, a fixed end rotating shaft 535, a movable connecting rod 536, a supporting shaft 537, a suction cup rotating gas distribution support 538, a suction cup 539 and two-side material blocking edge assemblies 54, a cross hinged rotary follow-up joint assembly 6 comprises a middle conveying belt assembly fixing shaft 601, an angular contact ball bearing 602, a cross joint bearing seat 603, a joint bearing 604, a bearing seat 605, a deep groove 606 and a telescopic belt assembly fixing shaft 607, an inlet telescopic belt assembly 7 comprises a linear guide rail 701, a linear slide block 702, a first motor 703, a first speed reducer 704, a front-end stacking device rack assembly 51, a stacking disassembling device synchronous belt conveying assembly 52, a suction cup rotating gas distribution device supporting seat 53, a suction cup and two-side material blocking edge assemblies 54 A second motor 705, a second reducer 706, a material detection sensor B707, a supporting rotating shaft 708, a telescopic belt fixed end frame assembly 71, a telescopic belt fixed end conveying assembly 72, a telescopic belt fixed end chain wheel transmission assembly 73, a telescopic belt sliding end frame assembly 74, a telescopic belt sliding end conveying assembly 75, a telescopic belt sliding end chain wheel transmission assembly 76 and a telescopic belt rib assembly 77, an inlet belt post assembly 8 comprises a rotating bearing 801, a square bearing C802, an inlet belt post assembly 81 and a cross hinge seat assembly 82, the inlet belt post assembly 8 and the inlet telescopic belt post assembly 7 are connected by adopting a cross hinge structure, the inlet telescopic belt post assembly 7 can rotate around the inlet belt post assembly 8 by multiple degrees of freedom, the inlet telescopic belt assembly 7 adopts a double-row belt unit, one group of belt units has a telescopic function, a cross hinged rotary follow-up joint assembly 6 is arranged at the joint of an inlet telescopic belt conveyor assembly 7 and a middle section conveying belt conveyor assembly 3, the cross hinged rotary follow-up joint assembly 6 is arranged at the telescopic end of the belt conveyor of the inlet telescopic belt conveyor assembly 7, a two-three rotary joint output motor 212, a two-three rotary joint motor mounting plate 211 and a two-three rotary joint RV reducer 210 are arranged at one end of a rotary machine body assembly 21 in a matching way and used for driving a second joint rotary swing arm assembly 23 to rotate, one end of the second joint rotary swing arm assembly 23 is hinged with the middle section conveying belt conveyor assembly 3, a two-three rotary joint output motor 212, a two-three rotary joint motor mounting plate 211 and a two-three rotary joint RV reducer 210 are arranged at the other end of the rotary machine body assembly 21 in a matching way, the middle section belt conveyor assembly 3 can be controlled to rotate around a rotating shaft 231 at the far end of the second joint rotary swing arm within a certain angle, the middle section belt conveyor assembly 3 is arranged on the rotary support joint assembly 2 to drive a plurality of movements within a certain range of freedom, the middle section conveying belt conveyor component 3 drives the inlet telescopic belt conveyor component 7 to rotate around the inlet belt conveyor strut component 8 through the cross-shaped hinged rotary follow-up joint component 6, meanwhile, the inlet telescopic belt conveyor component 7 has a belt telescopic function and is used for realizing normal transportation connection of box-type materials 9, the cross-shaped hinged rotary joint component 4 is installed on the middle section conveying belt conveyor component 3, two cross directions of the cross-shaped hinged rotary joint component 4 are connected to the front end destacking component 5 through the final conveying end of a motor-driven RV reducer, the design realizes the rotation of the front end destacking mechanism in two cross directions, three joints on the rotary support joint component 2 are driven by the motor-driven RV reducer, the rotary support joint component 2 and the cross-shaped hinged rotary joint component 4 are matched to realize five-axis linkage, can realize that gyration support joint subassembly 2 front end destacking pile up neatly subassembly 5 can destack and pile up neatly in a plane on static condition, and front end destacking pile up neatly subassembly 5 is destacking pile up neatly device hold-in range conveying component 52 front end and the cooperation of cylinder sucking disc destacking pile up neatly device 53, realizes grabbing (destacking) and pile up neatly the material. The cylinder sucker unstacking and stacking device 53 is a 90-degree turnover mechanism with a sucker, and is matched with the sucker to grab (unstack) and stack materials.

In the embodiment, preferably, the mecanum wheel trolley assembly 1 is a four-omnidirectional four-wheel drive walking device, the device is navigated by laser matching with two-dimensional code, the trolley frame assembly 11 is provided with four sets of mecanum wheel assemblies 12, each set of mecanum wheel assemblies 12 is driven by an independent servo motor, the front and the back of the mecanum wheel trolley assembly 1 are respectively provided with a front laser scanning radar 102 and a back laser positioning radar 103 for navigating the mecanum wheel trolley assembly 1 to walk along the central axis of the carriage in the carriage, the front laser scanning radar 102 and the back laser positioning radar 103 can detect the distance between the left and the right walls of the trolley and the left and the right walls of the carriage body in real time so as to control the trolley to walk along the central axis of the carriage, and the walking orientation of the mecanum wheel trolley assembly 1 can be continuously and automatically adjusted in the process; simultaneously plantago laser scanning radar 102 and car back anticollision radar 104 also can detect whether there is object and barrier to block in the dolly fore-and-aft direction, thereby guarantee dolly walking safety is controllable, both sides AGV anticollision strip 105 and preceding back AGV anticollision strip 106 encircle dolly chassis protective component 15 installation, both sides AGV anticollision strip 105 and preceding back AGV anticollision strip 106 and industrial computer electrical property link to each other, the AGV anticollision strip is run into the barrier and is received pressure and can trigger dolly stop signal, be used for the secondary protection dolly does not collide the barrier.

In this embodiment, preferably, the first joint rotation mounting flange 201 is installed and fixed on the trolley frame assembly 11, the outer ring of the first joint cross roller bearing 202 is installed and fixed on the first joint rotation mounting flange 201, the inner ring of the first joint cross roller bearing 202 is installed and connected on the rotation body assembly 21, the fixed end of the RV reducer 203 is installed and fixed on the first joint rotation mounting flange 201, the motor mounting plate 204 is installed on the fixed end face of the RV reducer 203, the first joint input motor 205 and the first joint input reducer 206 are installed and connected together, the first joint input reducer 206 and the input end of the RV reducer 203 are connected, the output end of the RV reducer 203 and the reducer output connection elastic sheet 207 are connected and fixed, the intermediate transition reducer output connection rod 208 of the reducer output connection elastic sheet 207 is finally connected with the rotation body assembly 21, and the first joint cross bearing 202 is used for bearing the radial load and the axial load of the rotation body assembly 21 and the assemblies installed thereon The RV decelerates, the reducer output connecting elastic sheet 207 and the reducer output connecting rod 208 which are connected with the output end of the 203 have partial elastic bearing capacity, the load of the motor and the reducer can be reduced in a limited mode, the motor and the reducer can only provide driving rotating torque, and damage of other forces to the reducer and the motor is reduced. The design adopts a motor to start an RV reducer for elastic connection driving, a crossed roller bearing is independently configured for bearing the weight and the transverse moment of equipment, the size and the model of the RV reducer can be reduced, thereby reducing the cost, simultaneously protecting the RV reducer, leading the RV reducer to bear the elastic moment only in the output direction, the fixed ends of a two-three rotary joint RV reducer 210 are respectively arranged at two sides of a rotary machine body assembly 21, the input fixed end of the motor of the two-three rotary joint RV reducer 210 is arranged at a two-three rotary joint motor mounting plate 211, a two-three rotary joint output motor 212 is arranged at the two-three rotary joint motor mounting plate 211, the input end of the two-three rotary joint output motor 212 is connected at the input end of the two-three rotary joint RV reducer 210, one side of the near end of a second joint rotary swing arm assembly 23 is arranged at the output end of the two-three rotary joint RV reducer 210, the other side of the near end of the second joint rotary swing arm component 23 is arranged on a rotary inner ring of a two-three rotary joint crossed roller bearing 213, the outer ring of the two-three rotary joint crossed roller bearing 213 is arranged and fixed on a rotary machine body component 21, the far end of the second joint rotary swing arm component 23 is provided with a far end rotary shaft 231 of a second joint rotary swing arm, two sides of the far end rotary shaft 231 of the second joint rotary swing arm are respectively connected and fixed with rotary inner rings with square seat bearings B301, the two square seat bearings B301 are respectively arranged and fixedly arranged on two sides of a belt conveyor frame component 31, one side of the near end of the third joint rotary swing arm component 24 is arranged on the output end of a two-three rotary joint RV reducer 210, the other side of the near end roller of the third joint rotary swing arm component 24 is arranged on the rotary inner ring of the two-three rotary joint crossed roller bearing 213, the outer ring of the two-three rotary joint crossed roller bearing 213 is arranged and fixed on the rotary machine body component 21, a third joint rotary swing arm far-end rotating shaft 241 is arranged at the far end of the third joint rotary swing arm component 24, two sides of the third joint rotary swing arm far-end rotating shaft 241 are respectively connected and fixed with a rotary inner ring with a square seat bearing A251, two bearings with square seats A251 are respectively and fixedly arranged on two sides of the near end of the third joint rotary connecting rod component 25, two bearings with square seats A251 are respectively arranged on two sides of the far end of the third joint rotary connecting rod component 25, two ends of a third joint rotary connecting rod fixing shaft 32 are connected and fixed with a rotary inner ring with a square seat bearing A251, a two-three rotary joint output motor 212, a two-three rotary joint motor mounting plate 211 and a two-three rotary joint RV reducer 210 are arranged at one end of the rotary machine body component 21 in a matching way and used for driving the second joint rotary swing arm component 23 to rotate, one end of the second joint rotary swing arm component 23 is hinged with the middle-section conveying belt machine component 3, the two-three rotary joint output motor 212, the two-three rotary joint motor mounting plate 211 and the two-three rotary joint RV reducer 210 are arranged at the other end of the rotary machine body component 21 in a matching way and are used for driving the third joint rotary swing arm component 24 to rotate, one end of the third joint rotary connecting rod component 25 is connected with the third joint rotary swing arm component 24 in a hinged way, the other end of the third joint rotary connecting rod component 25 is connected with the middle section conveying belt machine component 3 in a hinged way, the two sets of mechanisms can form a connecting rod mechanism for the middle section conveying belt machine component 3, meanwhile, the third joint rotary swing arm component 24 and the third joint rotary connecting rod component 25 are matched and act on the middle section conveying belt machine component 3, the middle section conveying belt machine component 3 can be controlled to rotate around the far end rotary shaft 231 of the second joint rotary swing arm at a certain angle, the rotary machine body component 21 and parts mounted on the rotary machine body component can realize rotation under the driving of the first joint input motor 205, the rotation point is a first joint rotation mounting flange 201, a gas spring fixed end mounting seat 209 is mounted on a rotation machine body assembly 21, a gas spring moving end mounting seat 300 is mounted on the middle section belt conveyor assembly 3, a gas spring 22 fixed end is mounted on the gas spring fixed end mounting seat 209, a gas spring 22 moving end is mounted on the gas spring moving end mounting seat 300, the gas spring 22 is used for supporting the middle section belt conveyor assembly 3 and mounting and connecting parts thereon, the gas spring 22 support can integrally reduce the two-three rotation joint motor mounting plate 211 and integrally configure the two-three rotation joint output motor 212, and the gas spring 22 support is also a safety protection device, if the second joint rotary swing arm assembly 23, the third joint rotary swing arm assembly 24 and the third joint rotary connecting rod assembly 25 fail, the protection function can be achieved within a certain range.

In this embodiment, preferably, the middle belt conveyor assembly 3 is composed of two belt conveyor assemblies, which are respectively a rear belt conveyor assembly 33 and a front belt conveyor assembly 34, the rear belt conveyor assembly 33 and the front belt conveyor assembly 34 are both mounted on the belt conveyor frame assembly 31, the rear belt conveyor assembly 33 and the front belt conveyor assembly 34 are both mounted with an independent belt conveyor driving motor 302, a belt conveyor driving motor reducer 303, a belt conveyor sprocket driving assembly 35 and a material detection switch 304, belt conveyor flange plate assemblies 36 are mounted on both sides of the belt conveyor frame assembly 31, the belt conveyor flange plate assemblies 36 mounted on both sides of the belt conveyor frame assembly 31 are used for guiding the conveying box-type material 9, the rear belt conveyor assembly 33 and the front belt conveyor assembly 34 are both mounted with an independent belt conveyor driving motor 302 and a belt drive motor reducer 303 for independently controlling the start and stop of the two belt conveyors, the material detection switches 304 are mounted at the material outlets of the rear-end belt conveyor assembly 33 and the front-end belt conveyor assembly 34 and used for detecting box-type materials 9, material queuing can be achieved through the structure, and only one box-type material 9 is conveyed on the belt conveyor at the section located at the front end at one time, so that material queuing is achieved.

In this embodiment, preferably, two fixed ends of the fourth revolute joint RV reducer 401 are respectively installed at two sides of the belt conveyor frame assembly 31, a fourth revolute joint reducer a404 is installed and fixed on the belt conveyor frame assembly 31, the fourth revolute joint reducer a404 and a fourth revolute joint motor 405 are installed and connected together, a fourth revolute joint input shaft 403 is installed and fixed on the input ends of the two fourth revolute joint RV reducers 401, one end of a fourth revolute joint synchronous belt transmission assembly 42 is connected to the fourth revolute joint reducer a404, the other end is connected to the fourth revolute joint input shaft 403, the cross-shaped articulated rotary base 402 is installed and fixed on the output ends of the two fourth revolute joint RV reducers 401, two fixed ends of the fifth revolute joint RV reducer 406 are respectively installed on the articulated rotary base 402 and a fifth revolute joint motor mounting plate 415 in an up-down symmetrical manner, the fifth revolute joint motor mounting plate 415 is installed and fixed on the cross-shaped articulated rotary base 402, a fourth rotary joint reducer B408 is fixedly arranged on a fifth rotary joint motor mounting plate 415, the fourth rotary joint reducer B408 and a fifth rotary joint motor 409 are connected together, a fifth rotary joint motor input gear 410 is arranged on the fourth rotary joint reducer B408, a fifth rotary joint motor transmission gear 411 is arranged on a fifth rotary joint input shaft 407, the fifth rotary joint motor input gear 410 and the fifth rotary joint motor transmission gear 411 are in meshing transmission, a fifth rotary joint output lower connecting plate 413 is connected with a spacer sleeve 412 in a matching way in the middle and is arranged at the drive output end of a fifth rotary joint RV reducer 406, a fifth rotary joint output upper connecting plate 414 is arranged at the drive output end of an upper fifth rotary joint RV reducer 406, the assembly is a cross hinged rotary mechanism, in two cross directions, and the swing of the front-end unstacking and stacking component 5 in the left-right direction and the up-down direction can be realized by respectively driving a motor which is arranged on the fifth rotary joint output lower connecting plate 413.

In this embodiment, preferably, the fifth rotary joint output lower connecting plate 413 and the front-end unstacking device frame assembly 51 are installed and connected together, the front-end unstacking device synchronous belt conveying assembly 52 is installed on two inner sides of the front-end unstacking device frame assembly 51, the stacking speed reducer 501 is installed on the front-end unstacking device frame assembly 51, the stacking speed reducer 501 and the stacking motor 502 are installed and connected together, the output shaft of the front-end unstacking device synchronous belt conveying assembly 52 and the stacking speed reducer 501 are installed and connected together, the cylinder suction cup unstacking device 53 is installed on the inner side of the front-end unstacking device frame assembly 51, the two-side material flange assemblies 54 are installed on two sides of the front-end unstacking device frame assembly 51, the material detection sensors a503 are installed on two sides of the front-end unstacking device frame assembly 51, the left and right laser range finders 504 are installed on the two-side material flange assemblies 54, the up-down laser range finder 505 is arranged on the material flange components 54 at two sides, the final output end of the cross hinged rotary joint component 4 is arranged on the front end unstacking device rack component 51, the cross hinged rotary joint component 4 finally drives the front end unstacking component 5 to realize cross hinged swing, the swing direction is left-right and up-down, the material detection sensors A503 are arranged at two sides of the front end unstacking component 5 and are used for detecting the distance between the whole front end unstacking component 5 and the carriage wall and simultaneously providing real-time position positioning in the left-right direction for control, the up-down laser range finder 505 is used for providing real-time up-down position positioning for control, the left-right laser range finder 504 is used for providing position signals of box type materials 9 by the front end unstacking device synchronous belt conveying component 52 and the air cylinder suction cup unstacking device 53, the front end unstacking device synchronous belt conveying component 52 is matched with the air cylinder suction cup unstacking device 53 to complete the unstacking function of the material conveying terminal, the cylinder linear guide rail fixing seat 531 and the fixed end rotating shaft 535 are fixedly arranged on the front end unstacking device rack assembly 51, the linear guide rail A532 and the fixed end of the rodless cylinder 533 are fixedly arranged on the cylinder linear guide rail fixing seat 531, the linear sliding end of the rodless cylinder 533 is connected with the sliding block assembly 534, one end of the movable connecting rod 536 is arranged on the sliding block assembly 534, the other end of the movable connecting rod 536 is arranged on the suction cup rotary air distribution support 538, the middle of the movable connecting rod 536 is matched with a supporting shaft 537, the suction cup rotary air distribution support 538 is hinged to the fixed end rotating shaft 535, the suction cup rotary air distribution support 538 is provided with a suction cup 539, the suction cup rotary air distribution support 538 is hinged to the fixed end rotating shaft 535, the rodless cylinder 533 drives the sliding block assembly 534 to linearly move, the sliding block assembly 534 drives the movable connecting rod 536 to finally act on the suction cup rotary air distribution support 538, and therefore the reciprocating 90 of the suction cup rotary air distribution support 538 is achieved And the sucker 539 arranged on the sucker rotation gas distribution support 538 is used for grabbing materials.

In this embodiment, preferably, the intermediate belt conveyor assembly fixing shaft 601 is installed on the belt conveyor frame assembly 31, the inner ring of the angular contact ball bearing 602 is installed and fixed on the intermediate belt conveyor assembly fixing shaft 601 in a matching manner, the outer ring of the angular contact ball bearing 602 is installed and fixed on the cross joint bearing seat 603 in a matching manner, the rotating end of the joint bearing 604 is installed on the cross joint bearing seat 603, the fixed end of the joint bearing 604 is installed on the bearing seat 605, the outer ring of the deep groove ball bearing 606 is installed and fixed on the bearing seat 605 in a matching manner, the inner ring of the deep groove ball bearing 606 is installed and fixed on the telescopic belt conveyor fixing shaft 607, the telescopic belt conveyor fixing shaft 607 is installed and fixed on the telescopic belt conveyor sliding end frame assembly 74, the cross hinge joint assembly 6 is a cross hinge joint follower assembly, which can realize rotation in two cross directions, one end of the cross hinge joint assembly 6 is installed on the intermediate belt conveyor assembly 3, the other end of the cross hinged rotary follow-up joint assembly 6 is arranged on an inlet telescopic belt conveyor assembly 7. The middle section belt conveyor component 3 is driven by the first, second and third connecting rod joint components, and the tail material inlet of the rear end belt conveyor component 33 of the middle section belt conveyor component 3 can move freely in a lower circle in an omnidirectional manner. The cross hinged rotary follow-up joint assembly 6 assembly can ensure normal conveying connection of materials when the materials are conveyed through the telescopic belt conveyor sliding end conveying assembly 75 and the rear end belt conveyor assembly 33 after calculation.

In this embodiment, preferably, the supporting rotating shaft 708 is installed on the square bearing C802 for hingedly supporting the inlet end of the telescopic belt assembly and for hingedly supporting the inlet end of the telescopic belt assembly, the sliding end frame assembly 74 of the telescopic belt is connected with the fixed shaft 607 of the telescopic belt, the fixed end frame assembly 71 of the telescopic belt is installed and fixed with the linear guide rail 701, the sliding end frame assembly 74 of the telescopic belt is installed and fixed with the linear slide block 702, the fixed end conveying assembly 72 of the telescopic belt is installed and fixed on the fixed end frame assembly 71 of the telescopic belt, the sliding end frame assembly 74 of the telescopic belt and the sliding end conveying assembly 75 of the telescopic belt are installed and fixed on the middle parts of the fixed end frame assembly 71 of the telescopic belt and the fixed end conveying assembly 72 of the telescopic belt, the first speed reducer 704 is installed and fixed on the fixed end frame assembly 71 of the telescopic belt, the first motor 703 and the first speed reducer 704 are connected together, and the telescopic belt fixed end chain wheel transmission component 73 is used for transmission between the first speed reducer 704 and the telescopic belt fixed end conveying component 72; the telescopic belt conveyor sliding end conveying assembly 75 is installed on the telescopic belt conveyor sliding end frame assembly 74, the first speed reducer 704 is installed on the telescopic belt conveyor sliding end frame assembly 74, the second motor 705 is connected with the second speed reducer 706 in an installing mode, and the telescopic belt conveyor sliding end chain wheel transmission assembly 76 is used for transmission between the second speed reducer 706 and the telescopic belt conveyor sliding end conveying assembly 75; the installation of flexible belt feeder flange subassembly 77 is fixed on flexible belt feeder fixed end frame subassembly 71, material detection sensor B707 installation is fixed on flexible belt feeder flange subassembly 77, but the flexible belt feeder subassembly 7 of entry is around two directions cross direction free rotation of entry belt feeder pillar subassembly 8, the articulated gyration of cross is followed up in the middle of interlude belt feeder subassembly 3 and the flexible belt feeder subassembly 7 of entry installation, the afterbody of interlude belt feeder subassembly 3 is at first joint, second joint and third joint drive down motion, can drive the flexible belt feeder subassembly 7 of entry and surround the flexible belt feeder pillar subassembly 8 of entry and move in certain angle in two directions of cross, the normal transport of material can be ensured to the flexible function of the flexible belt feeder subassembly 7 of entry.

In this embodiment, preferably, the lower portion of the inlet belt conveyor strut assembly 81 is installed and fixed on the trolley frame assembly 11, the upper portion of the inlet belt conveyor strut assembly 81 is installed and fixed with the outer ring of the rotating bearing 801, the bottom portion of the cross-shaped hinged seat assembly 82 is installed on the rotating inner ring of the rotating bearing 801, the two sides of the upper portion of the cross-shaped hinged seat assembly 82 are symmetrically installed and fixed with the square seat bearings C802, the rotating inner ring with the square seat bearings C802 is installed and fixed on the supporting rotating shaft 708, the inlet belt conveyor strut assembly 8 is installed with the cross-shaped rotating bearing 801 and the square seat bearings C802, the square seat bearings C802 are connected to the supporting rotating shaft 708 of the inlet telescopic belt conveyor assembly 7, the supporting rotating shaft 708 is installed at the material inlet end of the inlet telescopic belt conveyor assembly 7, this configuration enables the inlet telescoping belt assembly 7 to rotate about the swivel bearing 801 while the inlet telescoping belt assembly 7 also rotates about the support swivel shaft 708. This design is cross follow-up articulated structure, can realize that entry telescopic belt conveyor subassembly 7 is rotatory around two cross axles, realizes the pivoting of two cross directions.

The working principle and the using process of the invention are as follows: when the goods are loaded, the self-adaptive trolley system starts to move from the innermost side, stacking is carried out from bottom to top, stacking is carried out layer by layer upwards, the working stroke of the mechanical arm meets the requirement that one side of the section of the compartment is stacked, when one side is stacked, the AGV trolley moves one box of material length backwards, and the unloading process is opposite to the loading process.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Self-adaptation dolly loading and unloading system, its characterized in that: including mecanum wheel dolly subassembly (1), gyration support joint subassembly (2), interlude belt conveyor subassembly (3), cross articulated gyration joint subassembly (4), front end unstacking subassembly (5), cross articulated gyration follow-up joint subassembly (6), flexible belt conveyor subassembly (7) of entry, entry belt conveyor pillar subassembly (8) and box material (9), mecanum wheel dolly subassembly (1) is including plantago laser scanning radar (102), laser positioning radar (103) behind the car, collision avoidance radar (104) behind the car, both sides AGV anticollision strip (105), front and back AGV anticollision strip (106), some laser rangefinder sensor (107), dolly frame subassembly (11), mecanum wheel subassembly (12) and dolly chassis protection component (15), gyration support joint subassembly (2) include first joint gyration mounting flange (201), A first joint crossed roller bearing (202), an RV reducer (203), a motor mounting plate (204), a first joint input motor (205), a first joint input reducer (206), a reducer output connecting elastic sheet (207), a reducer output connecting rod (208), a gas spring fixed end mounting seat (209), a rotary machine body assembly (21), a two-three rotary joint RV reducer (210), a two-three rotary joint motor mounting plate (211), a two-three rotary joint output motor (212), a two-three rotary joint crossed roller bearing (213), a gas spring (22), a second joint rotary swing arm assembly (23), a second joint rotary swing arm far end rotating shaft (231), a third joint rotary swing arm assembly (24), a third joint rotary swing arm far end rotating shaft (241), a third joint rotary connecting rod assembly (25) and a bearing A (251) with a square seat, the middle section belt conveyor assembly (3) comprises a belt conveyor rack assembly (31), a rear end belt conveyor assembly (33), a front end belt conveyor assembly (34), a belt conveyor chain wheel transmission assembly (35), a belt conveyor flange plate assembly (36), a gas spring moving end mounting seat (300), a square seat bearing B (301), a belt conveyor driving motor (302), a belt conveyor driving motor reducer (303) and a material detection switch (304), wherein the cross-shaped hinged rotary joint assembly (4) comprises a fourth rotary joint synchronous belt transmission assembly (42), a fourth rotary joint RV reducer (401), a cross-shaped hinged rotary seat (402), a fourth rotary joint input shaft (403), a fourth rotary joint reducer A (404), a fourth rotary joint motor (405), a fifth rotary joint RV reducer (406), a fifth rotary joint input shaft (407), A fourth rotary joint speed reducer B (408), a fifth rotary joint motor (409), a fifth rotary joint motor input gear (410), a fifth rotary joint motor drive gear (411), a connecting spacer sleeve (412), a fifth rotary joint output lower connecting plate (413), a fifth rotary joint output upper connecting plate (414) and a fifth rotary joint motor mounting plate (415), wherein the front-end unstacking assembly (5) comprises a stacking speed reducer (501), a stacking motor (502), a material detection sensor A (503), a left-right laser range finder (504), an upper-lower laser range finder (505), a front-end unstacking device rack assembly (51), a unstacking device synchronous belt conveying assembly (52), an air cylinder suction cup unstacking device (53), an air cylinder linear guide rail fixing seat (531), a linear guide rail A (532), a rodless air cylinder (533), a sliding block assembly (534), The cross hinged rotary follow-up joint component (6) comprises a middle belt conveyor component fixing shaft (601), an angular contact ball bearing (602), a cross joint bearing seat (603), a joint bearing (604), a bearing seat (605), a deep groove ball bearing (606) and a telescopic belt conveyor fixing shaft (607), and the inlet telescopic belt conveyor component (7) comprises a linear guide rail (701), a linear sliding block (702), a first motor (703), a first speed reducer (704), a second motor (705), a second speed reducer (706), a material detection sensor B (707), a supporting rotary shaft (708), a telescopic belt conveyor fixing end frame component (71), a telescopic fixing end conveying component (72), The flexible belt conveyor comprises a flexible belt conveyor fixed end chain wheel transmission assembly (73), a flexible belt conveyor sliding end frame assembly (74), a flexible belt conveyor sliding end conveying assembly (75), a flexible belt conveyor sliding end chain wheel transmission assembly (76) and a flexible belt conveyor flange assembly (77), wherein an inlet belt conveyor pillar assembly (8) comprises a rotary bearing (801), a bearing C (802) with a square seat, an inlet belt conveyor pillar assembly (81) and a cross hinge seat assembly (82), the inlet belt conveyor pillar assembly (8) and the inlet flexible belt conveyor assembly (7) are connected by a cross hinge structure, the inlet flexible belt conveyor assembly (7) can rotate around the inlet belt conveyor pillar assembly (8) by multiple degrees of freedom, and a cross hinge rotary follow-up joint assembly (6) is installed at the joint of the inlet flexible belt conveyor assembly (7) and the middle section belt conveyor assembly (3), the cross-shaped hinged rotary follow-up joint assembly (6) is arranged at the telescopic end of the belt conveyor of the inlet telescopic belt conveyor assembly (7), the two-three rotary joint output motor (212), the two-three rotary joint motor mounting plate (211) and the two-three rotary joint RV reducer (210) are arranged at one end of the rotary machine body assembly (21) in a matched mode, one end of the second joint rotary swing arm assembly (23) is arranged at the middle section conveying belt conveyor assembly (3) in a hinged mode, the two-three rotary joint output motor (212), the two-three rotary joint motor mounting plate (211) and the two-three rotary joint RV reducer (210) are arranged at the other end of the rotary machine body assembly (21) in a matched mode, one end of the third joint rotary connecting rod assembly (25) is connected with the third joint rotary swing arm assembly (24) in a hinged mode, articulated interlude belt conveyor subassembly (3) of connecting of the other end, second joint gyration swing arm subassembly (23) department forms a rotation point around the circle, just third joint gyration swing arm subassembly (24), third joint gyration link assembly (25) mating reaction are in on interlude belt conveyor subassembly (3), interlude belt conveyor subassembly (3) are installed on gyration support joint subassembly (2), interlude belt conveyor subassembly (3) drive through articulated gyration follow-up joint subassembly of cross (6) the flexible belt conveyor subassembly of entry (7) are rotatory around a plurality of degrees of freedom of entry belt conveyor strut subassembly (8), the articulated gyration joint subassembly of cross (4) is installed on interlude belt conveyor subassembly (3), two cross directions of articulated gyration joint subassembly of cross (4) are connected to the front end by motor drive RV reduction gear final delivery end and are torn down a yard subassembly (5) Three joints on the rotary supporting joint assembly (2) are driven by a motor to drive an RV reducer, and the rotary supporting joint assembly (2) is matched with the cross hinged rotary joint assembly (4) to realize five-axis linkage.

2. The adaptive cart handling system of claim 1, wherein: four sets of Mecanum wheel subassembly (12) are installed in dolly frame subassembly (11), install plantago laser scanning radar (102) and laser positioning radar (103) behind the car around Mecanum wheel dolly subassembly (1) respectively, both sides AGV anticollision strip (105) and front and back AGV anticollision strip (106) encircle dolly chassis protection component (15) installation.

3. The adaptive cart handling system of claim 1, wherein: first joint gyration mounting flange (201) installation is fixed on dolly frame subassembly (11), first joint cross roller bearing (202) outer lane installation is fixed on first joint gyration mounting flange (201), first joint cross roller bearing (202) inner circle erection joint is on gyration organism subassembly (21), RV reduction gear (203) stiff end installation is fixed on first joint gyration mounting flange (201), motor mounting panel (204) are installed on RV reduction gear (203) fixed end, first joint input motor (205) and first joint input reduction gear (206) erection joint together, first joint input reduction gear (206) and RV reduction gear (203) input are connected, RV reduction gear (203) output and reduction gear output connection shell fragment (207) are connected fixedly, reduction gear output connection shell fragment (207) intermediate transition reduction gear output connecting rod (208) are last and gyration organism subassembly (21) The two-three rotary joint RV speed reducer (210) fixing ends are respectively arranged at two sides of the rotary machine body assembly (21), the motor input fixing end of the two-three rotary joint RV speed reducer (210) is arranged at a two-three rotary joint motor mounting plate (211), the two-three rotary joint output motor (212) is arranged on the two-three rotary joint motor mounting plate (211), the input end of the two-three rotary joint output motor (212) is connected at the input end of the two-three rotary joint RV speed reducer (210), one side of the near end of the second joint rotary swing arm assembly (23) is arranged at the output end of the two-three rotary joint RV speed reducer (210), the other side of the near end of the second joint rotary swing arm assembly (23) is arranged on the rotary inner ring of the two-three rotary joint crossed roller bearing (213), the outer ring of the two-three rotary joint crossed roller bearing (213) is fixedly arranged on the rotary machine body assembly (21), the far end of the second joint rotary swing arm assembly (23) is provided with a far end rotary shaft (231) of a second joint rotary swing arm, two sides of the far end rotary shaft (231) of the second joint rotary swing arm are respectively fixedly connected with a rotary inner ring with a square seat bearing B (301), two square seat bearings B (301) are respectively fixedly arranged on two sides of a belt conveyor belt machine frame assembly (31), one side of the near end of the third joint rotary swing arm assembly (24) is arranged on the output end of a two-three rotary joint RV reducer (210), the other side of the near end of the third joint rotary swing arm assembly (24) is arranged on the rotary inner ring of the two-three rotary joint crossed roller bearing (213), the outer ring of the two-three rotary joint crossed roller bearing (213) is fixedly arranged on the rotary machine body assembly (21), a third joint rotary swing arm far-end rotating shaft (241) is installed at the far end of the third joint rotary swing arm component (24), two sides of the third joint rotary swing arm far-end rotating shaft (241) are respectively connected and fixed with a rotary inner ring with a square seat bearing A (251), two square seat bearings A (251) are respectively installed and fixed on two sides of the near end of the third joint rotary connecting rod component (25), two square seat bearings A (251) are respectively installed on two sides of the far end of the third joint rotary connecting rod component (25), two ends of a third joint rotary connecting rod fixing shaft (32) are connected and fixed with the rotary inner ring with the square seat bearing A (251), a gas spring fixing end installing seat (209) is installed on the rotary machine body component (21), and a gas spring moving end installing seat (300) is installed on the middle section conveying belt conveyor component (3), the gas spring (22) fixed end is installed on gas spring fixed end mount pad (209), gas spring (22) removes the end and installs on gas spring removes end mount pad (300).

4. The adaptive cart handling system of claim 1, wherein: middle section belt conveyor subassembly (3) constitute for two sections belt conveyor subassemblies, are rear end belt conveyor subassembly (33) and front end belt conveyor subassembly (34) respectively, rear end belt conveyor subassembly (33) and front end belt conveyor subassembly (34) are all installed on belt conveyor frame subassembly (31), independent belt conveyor driving motor (302), belt conveyor driving motor reduction gear (303), belt conveyor sprocket drive assembly (35) and material detection switch (304) are all installed to rear end belt conveyor subassembly (33) and front end belt conveyor subassembly (34), belt conveyor flange board subassembly (36) are all installed to belt conveyor frame subassembly (31) both sides.

5. The adaptive cart handling system of claim 1, wherein: two fourth gyration joint RV reduction gear (401) stiff end is installed respectively in belt feeder frame subassembly (31) both sides, fourth gyration joint reduction gear A (404) installation is fixed on belt feeder frame subassembly (31), fourth gyration joint reduction gear A (404) and fourth gyration joint motor (405) installation link together, fourth gyration joint input shaft (403) installation is fixed on the input end of two fourth gyration joint RV reduction gears (401), fourth gyration joint synchronous belt drive subassembly (42) one end is connected to fourth gyration joint reduction gear A (404), and the other end is connected to fourth gyration joint input shaft (403), cross articulated gyration seat (402) installation is fixed on the output of two fourth gyration joint RV reduction gears (401), two fifth gyration joint RV reduction gear (406) stiff end is installed at cross articulated gyration seat (402) and fifth gyration joint motor installation respectively longitudinal symmetry The device comprises a plate (415), a fifth rotary joint motor mounting plate (415) is fixedly arranged on a cross hinged rotary seat (402), a fourth rotary joint speed reducer B (408) is fixedly arranged on the fifth rotary joint motor mounting plate (415), the fourth rotary joint speed reducer B (408) and a fifth rotary joint motor (409) are connected together in an installing mode, a fifth rotary joint motor input gear (410) is arranged on the fourth rotary joint speed reducer B (408), a fifth rotary joint motor transmission gear (411) is arranged on a fifth rotary joint input shaft (407), a fifth rotary joint motor input gear (410) and a fifth rotary joint motor transmission gear (411) are in meshing transmission, a lower connecting plate (413) of a fifth rotary joint output is connected with a spacer bush (412) in a matching mode, and the lower portion of the lower connecting plate is arranged at the driving output end of the fifth rotary joint RV speed reducer (406), and the fifth rotary joint output upper connecting plate (414) is arranged at the drive output end of the upper fifth rotary joint RV reducer (406).

6. The adaptive cart handling system of claim 1, wherein: the connecting plate (413) and the front end unstacking device rack assembly (51) are connected in an installing mode under the output of the fifth rotary joint, the front end unstacking device synchronous belt conveying assembly (52) is installed on two inner sides of the front end unstacking device rack assembly (51), the stacking speed reducer (501) is installed on the front end unstacking device rack assembly (51), the stacking speed reducer (501) and the stacking motor (502) are connected in an installing mode, an output shaft of the front end unstacking device synchronous belt conveying assembly (52) is connected in an installing mode with the stacking speed reducer (501), the air cylinder sucker unstacking device (53) is installed on the inner side of the front end unstacking device rack assembly (51), the material blocking side assemblies (54) on two sides of the front end unstacking device rack assembly (51), and the material detection sensors A (503) are installed on two sides of the front end unstacking device rack assembly (51), the left and right laser range finders (504) are arranged on material flange components (54) at two sides, the upper and lower laser range finders (505) are arranged on the material flange components (54) at two sides, a cylinder linear guide rail fixing seat (531) and a fixed end rotating shaft (535) are fixedly arranged on a front end unstacking device rack component (51), a linear guide rail A (532) and a rodless cylinder (533) fixed end are fixedly arranged on the cylinder linear guide rail fixing seat (531), a rodless cylinder (533) linear sliding end is connected with a sliding block component (534) in an installing way, one end of a movable connecting rod (536) is arranged on the sliding block component (534), the other end of the movable connecting rod (536) is arranged on a sucker rotary gas distribution support (538) in the middle of the sucker in a matching way to be provided with a supporting shaft (537), and the sucker rotary gas distribution support (538) is hinged to the rotating shaft (535), and a sucker (539) is arranged on the sucker rotating gas distribution support (538).

7. The adaptive cart handling system of claim 1, wherein: middle belt conveyor subassembly fixed axle (601) is installed on belt conveyor frame subassembly (31), belt conveyor subassembly fixed axle (601) in the middle of angular contact ball bearing (602) inner circle cooperation installation, angular contact ball bearing (602) outer lane cooperation installation is fixed cross joint bearing frame (603), joint bearing (604) gyration end is installed on cross joint bearing frame (603), joint bearing (604) stiff end is installed on bearing frame (605), deep groove ball bearing (606) outer lane cooperation installation is fixed on bearing frame (605), deep groove ball bearing (606) inner circle cooperation installation is fixed on flexible belt conveyor fixed axle (607), flexible belt conveyor fixed axle (607) installation is fixed on flexible belt conveyor slip end frame subassembly (74).

8. The adaptive cart handling system of claim 1, wherein: the supporting rotating shaft (708) is arranged on a square bearing C (802), the telescopic belt sliding end frame assembly (74) is connected with a telescopic belt fixing shaft (607), a linear guide rail (701) is fixedly arranged on the telescopic belt fixing end frame assembly (71), a linear slider (702) is fixedly arranged on the telescopic belt sliding end frame assembly (74), the telescopic belt fixing end conveying assembly (72) is fixedly arranged on the telescopic belt fixing end frame assembly (71), the telescopic belt sliding end frame assembly (74) and the telescopic belt sliding end conveying assembly (75) are arranged in the middle of the telescopic belt fixing end frame assembly (71) and the telescopic belt fixing end conveying assembly (72), the first speed reducer (704) is fixedly arranged on the telescopic belt fixing end frame assembly (71), first motor (703) and first reduction gear (704) erection joint are in the same place, flexible belt feeder slip end conveying subassembly (75) are installed on flexible belt feeder slip end frame subassembly (74), first reduction gear (704) are installed on flexible belt feeder slip end frame subassembly (74), second motor (705) and second reduction gear (706) erection joint are in the same place, flexible belt feeder flange subassembly (77) installation is fixed on flexible belt feeder fixed end frame subassembly (71), material detection sensor B (707) installation is fixed on flexible belt feeder flange subassembly (77).

9. The adaptive cart handling system of claim 1, wherein: entry belt feeder pillar combination (81) lower part installation is fixed on dolly frame subassembly (11), fixed slew bearing (801) outer lane of entry belt feeder pillar combination (81) upper portion installation, the articulated seat combination of cross (82) bottom is installed and is circled in slew bearing (801) gyration, the articulated seat combination of cross (82) upper portion bilateral symmetry installation fixed band square seat bearing C (802), take square seat bearing C (802) gyration inner circle installation to fix on supporting revolving axle (708).