CN115448018A

CN115448018A - Cargo loading and unloading device for cargo compartment

Info

Publication number: CN115448018A
Application number: CN202211173989.7A
Authority: CN
Inventors: 贺晓辉
Original assignee: Chongqing Zhiqi Magic Cube Technology Co ltd
Current assignee: Chongqing Zhiqi Magic Cube Technology Co ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2022-12-09

Abstract

A cargo loading and unloading device for a cargo compartment comprises a main frame and a grabbing module, wherein the grabbing module is movably arranged on the main frame, and the main frame carries the grabbing module to move so as to convey or grab cargos at different positions; the grabbing module comprises a transverse moving component, a mechanical arm and a clamping jaw frame, the transverse moving component is arranged on the main frame, the mechanical arm is arranged on the transverse moving component, and the mechanical arm is assembled with the clamping jaw frame; the clamping jaw frame comprises a clamping jaw shell, a clamping jaw vertical plate, a clamping jaw top plate and a clamping jaw supporting plate, wherein the clamping jaw supporting plate and the clamping jaw shell are fixed on the clamping jaw vertical plate, the clamping jaw supporting plate is provided with a plurality of clamping jaw idler wheels, and each clamping jaw supporting plate is respectively provided with a clamping jaw idler wheel in a circumferential rotating manner; assembling the clamping jaw shell with the mechanical arm; the sucking disc subassembly is still installed on the part that the clamping jaw riser is located between clamping jaw layer board, the clamping jaw roof, and the sucking disc subassembly includes that sucking disc, sucking disc cut fork mechanism, sucking disc cut fork actuating cylinder, and the both ends that the fork mechanism was cut to the sucking disc are assembled with clamping jaw riser, sucking disc respectively, the sucking disc is cut the fork actuating cylinder and is installed on the clamping jaw riser and be used for driving sucking disc and cut fork mechanism.

Description

Loading and unloading device for cargo compartment

Technical Field

The invention relates to a logistics technology and a loading and unloading technology, in particular to a loading and unloading device for a cargo compartment.

Background

In the logistics industry, loading and unloading of articles are always difficult problems, and currently, manual loading, crane-assisted manual loading and the like are mostly adopted for small articles and irregular articles; the large articles and the regular articles are mostly packed by adopting a transfer frame and then loaded and unloaded by a forklift. The manual loading mode is high in space utilization rate and reasonable in planning, but is low in efficiency and high in labor cost, and the transportation cost is increased. On one hand, the packing mode of the transfer racks needs a large amount of transfer racks, so that the purchasing cost is increased; on the other hand, the articles need to be packed on the transport rack and need to be unpacked after the articles reach the destination, and all the operations need to be performed manually, so that the labor cost is still high, and the efficiency is still low.

Particularly, as the logistics industry is developed increasingly at present, the daily loading and unloading amount is astronomical number, so that the labor cost can be greatly reduced as long as the loading and unloading problem is solved, and the whole logistics cost is reduced.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention provides a cargo loading and unloading device for a cargo compartment, which is capable of automatically loading and unloading cargo in the compartment or container.

In order to achieve the aim, the invention provides a cargo loading and unloading device for a cargo compartment, which comprises a main frame and a grabbing module, wherein the grabbing module is movably arranged on the main frame, and the main frame carries the grabbing module to move so as to convey or grab cargoes at different positions; the grabbing module comprises a transverse moving assembly, a mechanical arm and a clamping jaw frame, the transverse moving assembly is mounted on the main frame, the mechanical arm is mounted on the transverse moving assembly, and the mechanical arm is assembled with the clamping jaw frame;

the clamping jaw frame comprises a clamping jaw shell, a clamping jaw vertical plate, a clamping jaw top plate and a clamping jaw supporting plate, wherein the clamping jaw supporting plate and the clamping jaw shell are fixed on the clamping jaw vertical plate; the clamping jaw shell is assembled with the mechanical arm;

the sucking disc assembly is further installed on the part, located between the clamping jaw supporting plate and the clamping jaw top plate, of the clamping jaw vertical plate and comprises a sucking disc, a sucking disc scissor fork mechanism and a sucking disc scissor fork driving cylinder, the two ends of the sucking disc scissor fork mechanism are respectively assembled with the clamping jaw vertical plate and the sucking disc, and the sucking disc scissor fork driving cylinder is installed on the clamping jaw vertical plate and used for driving the sucking disc scissor fork mechanism.

The beneficial effects of the invention are:

the invention can evaluate the space and goods stacking state by utilizing the existing machine vision technology and then calculate the better stacking mode of the goods, thereby improving the space utilization rate. In addition, the goods stacking data can be transmitted to the unloading end, so that the unloading end can carry out unloading planning greatly.

The invention also grabs the goods through the grabbing mechanism, and places the grabbed goods on the conveying device for output, or grabs the goods input on the conveying device and stacks the goods, thereby realizing the automatic loading and unloading of the goods. In addition, the main frame can be flexibly adjusted and adapted according to the width of the carriage or the container, so that the main frame can be adapted to carriages (stacking spaces) with different sizes, and the application range of the invention is greatly improved.

Drawings

FIG. 1 is a schematic view of a first embodiment in a use state;

2-6 are schematic structural diagrams of the first embodiment;

FIG. 7 is a partial schematic structural view of the main frame A;

FIG. 8 is a schematic view of the structure of the side member A130;

fig. 9 is a schematic structural view of the grabbing module C, the first beam a160 and the second beam a 170;

fig. 10-16 are schematic structural views of the first beam a160 and the second beam a170, wherein fig. 13 is a cross-sectional view of the first conductive pillar C622 at the central plane of the axis, and fig. 16 is a cross-sectional view of the insulating sleeve a530 at the central plane of the axis;

FIG. 17 is a schematic illustration of the construction of the traverse assembly C100;

FIGS. 18-19 are schematic structural views of the first and second traverse gears C710 and C720;

FIG. 20 is a schematic view of the grasping module C;

fig. 21-22 are partial schematic views of the jaw frame C300;

FIG. 23 is a partial schematic view of the latch block C360;

FIG. 24 is a schematic view of the chuck assembly C400;

FIGS. 25-26 are schematic views of the structure of the conveying device B;

fig. 27 is a schematic structural view of the extension conveying mechanism B200;

FIGS. 28 to 30 are schematic structural views of the second embodiment;

fig. 31-34 are schematic structural views of the grasping module C;

fig. 35 is a schematic structural diagram of the second turntable bearing C922, the first stroke switch C671 and the second stroke switch C672;

FIG. 36 is a schematic view of the structure of the transport apparatus B;

fig. 37 to 40 are schematic views of a modified structure of the conveying positioning module B100.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example one

Referring to fig. 1 to 6, the cargo loading and unloading device for the cargo compartment comprises a main frame A and a grabbing module C, wherein the grabbing module C is movably arranged on the main frame A, and the main frame A carries the grabbing module C to move so as to convey or grab cargo 03 at different positions. During the use, body frame A loads into in the goods railway carriage or compartment 01 to make and snatch module C and can take out the goods in the goods railway carriage or compartment 01 with the goods dress of inputing.

Referring to fig. 1 to 7, the main frame a includes two lifting mechanisms, each of which includes a lifting base a110, a scissor lifting mechanism a220, and a lifting footstock a120, the lifting base a110 and the lifting footstock a120 are respectively installed at upper and lower ends of the scissor lifting mechanism a220, and the scissor lifting mechanism a220 is driven to lift by a lifting electric cylinder or a lifting motor (not shown, which is a common knowledge) so as to drive the lifting footstock a120 to lift synchronously; at least two main frame wheels A210 are further installed on the lifting base A110, and the main frame wheels A210 are integrated with a hub motor, so that the main frame wheels A210 are driven to rotate through the hub motor A210 to enable the main frame wheels A210 to move along with the main frame A. In this embodiment, the main frame wheels a210 are mecanum wheels, and the two lifting mechanisms have at least four mecanum wheels, so that the main frame a can advance, rear legs, turn, laterally move and the like by matching the at least four mecanum wheels. Preferably, each lifting mechanism corresponds to four Mecanum wheels, so that each lifting mechanism can independently walk and has a good supporting effect.

The lifting top seat A120 of one lifting mechanism is assembled with one end of the first cross beam A160, the lifting top seat A120 of the other lifting mechanism is assembled with one end of the second cross beam A170, and the first cross beam A160 and the second cross beam A170 are assembled in a staggered, clamped and sliding mode; the two lifting top bases a120 are further provided with different side assemblies a130, referring to fig. 8, each side assembly a130 includes a first side plate a131 and a second side plate a132, the first side plate a131 is mounted on the corresponding lifting top base a120, the first side plate a131 and a side sliding shaft a134 can be axially assembled in a sliding manner, the side sliding shaft a134 and the second side plate a132 are assembled and fixed, a side spring a135 is sleeved on a portion of the side sliding shaft a134, which is located between the first side plate a131 and the second side plate a132, and the side spring a135 applies a thrust force far away from the first side plate a131 to the second side plate a 132; rotate on the second side panel A132 and install side gyro wheel A133, install pressure sensor A430 on the first side panel A131, pressure sensor A430's touch end is just to first side panel A131, and because side spring A135's effect during initial condition, second side panel A132 does not compress tightly with pressure sensor A430. When the main frame is used, the main frame drives into the cargo compartment 01, then the lifting mechanisms on the two sides respectively move towards the cargo compartment side wall 02 of the cargo compartment 01 until the side roller A133 is tightly pressed with the cargo compartment side wall 02, then the second side plate A132 is extruded to be tightly pressed towards the pressure sensor A430, and the side roller A133 and the cargo compartment side wall 02 can be judged to be tightly pressed until the pressure applied to the pressure sensor A430 reaches a preset threshold value. In this embodiment, each side has two side assemblies a130, and if the pressure values output by the pressure sensors of the four side assemblies are within the preset threshold range, it is determined that the main frame and the cargo compartment complete positioning and pressing, and if the pressure value output by at least one pressure sensor is not within the preset threshold range, it is determined that there is an inclination between the main frame and the cargo compartment, and at this time, the position of the main frame is adjusted until the pressure values output by the four pressure sensors are within the preset threshold range, and the specific adjustment mode is common knowledge, and the present application is not described in detail. In this embodiment, the error range of the output values of the pressure sensors is mainly used as a threshold, the output values of different pressure sensors on the same side float within a range of 3%, and the error of the output values of corresponding pressure sensors on different sides float within a range of 5%, which can be regarded as that the error is within a preset threshold range. When the two sides are compared, the pressure sensors corresponding to the two sides in the width direction are needed to be compared. If the pressure value detected by one side is 50N, the detection value of the pressure sensor corresponding to the other side is within 50-2.5N to 50+2.5N, and the detection value is considered to be within the preset threshold range. In this embodiment, the side roller a133 may be a ball, which is mounted on the second side plate a132 in a ball-shaped manner, and this design is mainly designed to accommodate the forward, backward, and up-and-down movements of the main frame.

Preferably, a first electrical box a421 is installed on one of the lifting top seats a120, and a second electrical box a422 is installed on the other lifting top seat a120, and the first electrical box a421 and the second electrical box a422 are connected through a connection cable a423 to implement power supply and communication. In this embodiment, the connection cable a423 is wound and unwound through the first winding disc, so that the connection cable a423 can be flexibly adapted to width adjustment between the first electrical box a421 and the second electrical box a 422. More preferably, a second take-up reel is further installed in the second electrical box a422, the second take-up reel is used for winding and unwinding the power supply cable a401, and the power supply cable a401 is further assembled and fixed with the lifting base a110, so that the power supply cable a401 can flexibly adapt to different distances between the lifting top base a120 and the lifting base a 110.

Referring to fig. 1 to 16, there are two first beams a160 and two second beams a170, the two first beams a160 are respectively installed at the outer sides of the two second beams a170, a beam groove a174 is formed between the two second beams a170, the second beams a170 and the first beams a160 at the two sides of the beam groove a174 are respectively a pair of beam groups, that is, there are a pair of beam groups at the two sides of the beam groove a 174;

the first beam a160 is provided with a first beam platform a161 and a first rack a162, and the second beam a170 is provided with a second beam platform a171 and a second rack a172; a first conductive strip a441 and a second conductive strip a442 are respectively mounted on the first beam platform a161 and the second beam platform a 171; the first conductive strip a441 and the second conductive strip a442 are made of a highly conductive material, preferably copper, carbon sliding plate, etc.

The first conductive strip a441 or the second conductive strip a442 of the two pairs of beam sets are electrically connected with two electrodes of the dc power supply respectively, so that the two pairs of beam sets respectively serve as positive and negative electrodes; referring to fig. 16, a first conductive strip a441 and a second conductive strip a442 of the same pair of beam groups are respectively pressed against and conducted with a first conductive block a451 and a second conductive block a452, the second conductive block a452 and the second conductive strip a442 are pressed against, slid and conducted, the second conductive block a452 is electrically connected with one end of an electric lead a461, an insulating sleeve a530 is sleeved on the electric lead a461, and the insulating sleeve is made of a non-conductive material; the electric pole A461 is also electrically connected with one end of the spring wire A462, and the other end of the spring wire A462 is electrically connected with the first conductive block A451; the insulation sleeve a530 penetrates through the insulation partition a164 and is axially assembled with the insulation partition a164 in a sliding manner, the insulation partition a164 is installed in the lead groove a165, the lead groove a165 is arranged on the first beam a160, the second conductive block a452 is clamped and slidably installed in the lead groove a165, an insulation spring a520 is sleeved on a part, located between the insulation partition a164 and the second conductive block a452, of the insulation sleeve a462, the insulation spring a520 applies elastic force to the second conductive block a452 to press against the second conductive strip a442, so that the second conductive block a452 keeps pressing against the second conductive strip a442 to conduct electricity, and the insulation spring a520 is made of insulation materials. The design enables the first beam and the second beam to slide, and the first conductive strip A441 and the second conductive strip A442 of the same beam group are electrically connected when the first beam and the second beam slide.

Referring to fig. 14 to 16, a beam sliding groove a173 is further formed in the second beam a170, and one end of the beam sliding groove a173 is closed; the first beam a160 is provided with a beam block a163, the beam block a163 is installed in the beam sliding groove a173 and slidably assembled with the beam sliding groove a173, and the beam block a163 is used for blocking the closed end of the beam sliding groove a173 from passing through, so as to limit the maximum adjustment width of the first beam and the second beam. Preferably, in order to prevent the foreign matters from contaminating the side of second conductive strip a442, which may cause the conductivity between second conductive block a452 and second conductive strip a442 to decrease and wear more, in this embodiment, a side brush a510 is further installed at a position where first beam a160 is close to beam block a163, bristles of side brush a510 are pressed against the side of second conductive strip a442, and when first beam a160 and second beam 170 move relatively, the side of second conductive strip a442 may be brushed by side brush a510, so that the foreign matters adsorbed on the side of second conductive strip a442 are brushed off.

Referring to fig. 2, the two lifting top bases a120 and the first beam a160 are further respectively provided with an industrial camera a410, and the industrial camera a410 is used for acquiring a field image so as to perform visual recognition. In the prior art, the three-dimensional coordinate points (system coordinate system) of a space and a target point can be quickly identified by an industrial camera. Then, the optimal or better stacking mode of the goods can be calculated by combining the recognized space data with the size of the goods and the internal size of the goods compartment, so that the optimized stacking of the goods is realized, the space is saved, and the automatic loading and unloading of the goods can be realized. If the existing unmanned technology is combined, the unmanned logistics technology, namely automatic loading and unloading and automatic transportation, can be realized in the future, so that the efficiency is greatly improved, and the cost is reduced.

Referring to fig. 9, the gripping module C includes a traverse module C100, a robot arm C200, a clamping jaw frame C300, a suction cup module C400, and a side pressure module C500, the traverse module C100 is mounted on a first cross beam a160 and a second cross beam a170 and is assembled with the same in a sliding manner, the robot arm C200 is mounted on the traverse module C100 and the robot arm C200 is assembled with the clamping jaw frame C300, and the suction cup module C400 and the side pressure module C500 are respectively mounted on the clamping jaw frame C300.

Referring to fig. 1-6, 10-14, 17-19, the traverse assembly C100 includes a first traverse seat C110 and a second traverse seat C120, the first traverse seat C110 and the second traverse seat C120 are connected and fixed by a traverse connection seat C111, and a traverse roller C105 is mounted on the second traverse seat C120 in a circular rotation manner; the traversing connecting seat C111 penetrates through the beam groove A174 and is clamped and assembled with the beam groove A in a sliding way, the first beam A160 and the second beam A170 are clamped tightly by the first traversing seat C110 and the second traversing seat C120, and the traversing roller C105 is pressed tightly with the top surfaces of the first beam A160 and the second beam A170; the first traverse seat C110 is respectively provided with a mechanical arm C200 and a traverse motor C610, a motor shaft of the traverse motor C610 is respectively provided with a first traverse gear C710 and a second traverse gear C720, and the first traverse gear C710 and the second traverse gear C720 are respectively in meshing transmission with the first rack A162 and the second rack A172. When the transverse moving mechanism is used, the transverse moving motor C610 drives the first transverse moving gear C710 and the second transverse moving gear C720 to rotate, so that the first transverse moving gear C710 and the second transverse moving gear C720 are respectively meshed with the first rack A162 and the second rack A172 to drive the transverse moving assembly C100 to move along the first beam A160 and the second beam A170, and transverse movement is realized.

Referring to fig. 18 to 19, preferably, a first sinking groove C711 is formed in the first traverse gear C710, and a first stopper C712 is installed in the first sinking groove C711; a second sinking groove C721 is formed in the second traverse gear C720, and a second blocking block C722 is installed in the second sinking groove C721; the first stopper C712 is inserted into the second sinking groove C721, the second stopper C722 is inserted into the first sinking groove C711, a gear spring C730 is installed between the second stopper C722 and the first stopper C712, and the gear spring C730 is used for generating an elastic force for blocking the second stopper C722 and the first stopper C712 from approaching each other so as to maintain the initial state of the second stopper C722 and the first stopper C712. One of the first traverse gear C710 and the second traverse gear C720 is non-circumferentially rotatably mounted on the motor shaft of the side-shift motor C610, and the other one is circumferentially rotatably mounted on the motor shaft of the side-shift motor C610. In practical use, the teeth on the first rack and the second rack may not be aligned, and if both the first traverse gear C710 and the second traverse gear C720 are non-rotatably sleeved on the motor shaft of the side shift motor C610, the teeth may be stuck or hit. In the embodiment, one of the first traverse gear C710 and the second traverse gear C720 can rotate at a small angle for adaptation, so that the situations of jamming and tooth striking are avoided, and the second blocking block C722 and the first blocking block C712 can rotate in the same direction but not in a relative circle after compressing the gear spring, so that the normal walking of the traverse assembly C100 is ensured.

Referring to fig. 12 to 13, preferably, two electricity taking assemblies are further mounted on the second traverse seat C120, and the electricity taking assemblies are configured to be electrically connected to the first conductive strip a441 or the second conductive strip a442 of the corresponding beam group, so as to take electricity. The electricity taking assembly comprises an electricity taking arm C130, one end of the electricity taking arm C130 is hinged to the transverse connection seat C111 through an electricity taking arm shaft C131, a first insulation box C140 is installed at the open end of the electricity taking arm C130, a second insulation box C150 is installed on the part, located between the electricity taking arm shaft C131 and the first insulation box C140, of the electricity taking arm C130, a hollow first insulation chute C141 and a hollow second insulation chute C151 are respectively arranged inside the first insulation box C140 and the second insulation box C150, and a first electricity taking block C621 and a second electricity taking block C631 are respectively installed in the first insulation chute C141 and the second insulation chute C151 in a sliding mode; the first electricity taking block C621 can be pressed and conducted with the corresponding first conductive strip A441, the second electricity taking block C631 can be pressed and conducted with the corresponding second conductive strip A442, electricity can be taken only by one of the first electricity taking block C621 and the second electricity taking block C631 at the same time, in an initial state, the first electricity taking block C621 is pressed and conducted with the corresponding first conductive strip A441, and electricity is taken without the contact of the second electricity taking block C631 and the corresponding second conductive strip A442.

The first electricity taking block C621 and the second electricity taking block C631 are electrically connected with one ends of a first electricity taking column C622 and a second electricity taking column C632 respectively, the other end of the first electricity taking column C622 is sleeved with a first electricity taking spring C101 and then penetrates through a first insulating box C140, and the first electricity taking spring C101 applies a pushing force on the first electricity taking block C621 to press the first conductive strip A441; the other end of the second electricity-taking post C632 is sleeved with a second electricity-taking spring C102 and then penetrates out of the electricity-taking arm C130, and the second electricity-taking spring C102 applies a pushing force to the second electricity-taking block C631 to compress the second electricity-conducting strip a 442. When the first electricity taking block C621 and the corresponding first conductive strip a441 are pressed to take electricity, the second electricity taking block C631 moves to the maximum displacement point of the corresponding second conductive strip a442 and does not contact with the corresponding second conductive strip a442, and at this time, electricity can be taken by pressing and sliding the first electricity taking block C621 and the first conductive strip a 441. Once the first electricity taking block C621 is separated from the first conductive strip a441, the electricity taking arm C130, without the support of the first electricity taking block C621, can drive the second electricity taking block C631 to move towards the second conductive strip a442 until being pressed to take electricity, and at this time, the electricity can be taken through the second electricity taking block C631.

The two electricity taking assemblies are respectively electrically connected with two electrodes of the power supply connector C106, the power supply connector C106 is installed on the first transverse moving seat C110, and power supplies of the grabbing module C are connected in through the power supply connector C106. In this embodiment, a load resistor and a relay are further sequentially connected in series between the first power taking block C621 and the second power taking block C631, two stationary contacts of the relay are respectively electrically connected with the first power taking block C621 and the second power taking block C631, a movable contact of the relay is electrically connected with a cable for supplying power to the power supply connector C106, a control access end of the relay is respectively electrically connected with an anode and a cathode of the dc constant voltage power supply, and two current access ends of the dc constant voltage power supply are respectively electrically connected with the first power taking block C621 and the second power taking block C631. In the initial state, the relay electrically connects the first power supply block C621 with the power supply connector C106. Once the first power-taking block C621 and the second power-taking block C631 are simultaneously connected with the first conductive strip a441 and the second conductive strip a442 for conduction, the current is protected by the load resistor to prevent short circuit, and the large current enters the control access end of the relay after being converted by the dc constant voltage power supply to drive the relay to switch the moving contact, that is, the second power-taking block C631 is electrically connected with the power supply connector C106. In the moving process of the design mainly considered, the first power taking block C621 and the second power taking block C631 are electrified simultaneously in a short time, and therefore the relay is added for switching in order to guarantee the stability of power supply. And the first electricity taking block C621 and the second electricity taking block C631 are powered on at the same time again, and then the electric appliance is reset, that is, the first electricity taking block C621 and the power supply connector C106 are restored to be electrically connected. Certainly, in order to guarantee the stable operation of the grabbing module C, the UPS uninterruptible power supply is further installed in the grabbing control box C640 in the embodiment, and the UPS uninterruptible power supply has a battery, so that the power supply for the grabbing module C is guaranteed at the moment of switching the relay. Certainly, this embodiment also can not set up direct current constant voltage power supply, and the control incoming end of relay with snatch the PLC electricity in the control box C640 and be connected, get electric piece C621, second and get electric piece C631 and electrically conduct the switching of back PLC control relay with first busbar A441, second busbar A442 switch on simultaneously can. Certainly, at the moment that the first electricity taking block C621 and the second electricity taking block C631 are simultaneously connected to the first conductive strip a441 and the second conductive strip a442 for conduction, the power supply of the power supply connector C106 to the grabbing module C needs to be temporarily cut off, and the UPS uninterruptible power supply is used for temporarily supplying power, so that the electric equipment on the grabbing module C is prevented from being burnt out or impacted.

Referring to fig. 13, preferably, a U-shaped spring C103 is installed between the open end of the electricity-taking arm C130 and the second traverse seat C120, and the U-shaped spring C103 has elasticity; the U-shaped spring C103 applies a torque force to the electricity taking arm C130 to rotate the open end of the electricity taking arm to the first conductive strip, so as to ensure stable electricity taking of the first electricity taking block C621 and the second electricity taking block C631. More preferably, an electricity taking limiting block C112 may be disposed on the traverse connecting seat C111, and the electricity taking limiting block C112 is configured to limit a maximum angle of rotation of the electricity taking arm C130 to the first conductive strip, so as to limit maximum pressing forces of the first electricity taking block C621 and the second electricity taking block C631 with the first conductive strip a441 and the second conductive strip a442, respectively, so as to reduce friction while ensuring effective electricity taking.

Referring to fig. 17, preferably, an end surface brush C104 is mounted on the second traverse seat C120, bristles of the end surface brush C104 are respectively pressed against the first conductive strip a441 and the second conductive strip a442, and when the traverse assembly C100 moves, the end surfaces of the first conductive strip a441 and the second conductive strip a442 can be brushed by the end surface brush C104, so as to clean foreign matters on the end surfaces of the first conductive strip a441 and the second conductive strip a442, and thus electricity can be taken from the first conductive strip a441 and the second conductive strip a 442.

Referring to fig. 20 to 24, the jaw frame C300 includes a jaw shell C310, a jaw vertical plate C320, a jaw top plate C330, and a jaw supporting plate C340, where the jaw supporting plate C340 and the jaw shell C310 are both fixed on the jaw vertical plate C320, a plurality of jaw supporting plates C340 are provided, each jaw supporting plate C340 is respectively circumferentially and rotatably mounted with a jaw roller C341, and an inter-plate groove C342 is formed between the two jaw supporting plates C340; the gripper housing C310 is assembled with the robot arm C200 so that the robot arm can move with the gripper housing C300.

The sucking disc assembly C400 is further installed on the part, located between the clamping jaw supporting plate C340 and the clamping jaw top plate C330, of the clamping jaw vertical plate C320, the sucking disc assembly C400 comprises a sucking disc C410, a sucking disc scissors mechanism C420 and a sucking disc scissors driving cylinder C430, two ends of the sucking disc scissors mechanism C420 are respectively assembled with the clamping jaw vertical plate C320 and the sucking disc C410, the sucking disc scissors driving cylinder C430 is installed on the clamping jaw vertical plate C320 and used for driving the sucking disc scissors mechanism C420, and therefore the sucking disc scissors mechanism C420 drives the sucking disc C410 to move relative to the clamping jaw vertical plate C320. The suction cup C410 communicates with a vacuum tank through a spring tube C440, and the vacuum tank is drawn by a vacuum pump to form a low pressure or vacuum (near vacuum) to provide a negative pressure to the suction cup C410. Vacuum tank, vacuum pump all install in snatching control box C640, snatch control box C640 and install on clamping jaw shell C310.

The lateral pressure component C500 is respectively installed on two sides of the clamping jaw top plate C330, the lateral pressure component C500 comprises a lateral pressure plate C510, a lateral pressure scissor mechanism C520 and a lateral pressure driving cylinder C530, two ends of the lateral pressure scissor mechanism C520 are respectively assembled with the lateral pressure plate C510 and the clamping jaw top plate C330, and the lateral pressure driving cylinder C530 is installed on the clamping jaw top plate C330 and used for driving the lateral pressure scissor mechanism C520 to operate (stretch) so as to drive the lateral pressure plate C510 to move relative to the clamping jaw top plate C340.

When the goods 03 are loaded, the goods firstly enter between the grabbing supporting plate C340 and the grabbing top plate C350, then the side pressure driving cylinder C530 is started, and the side pressure plate C510 is driven to move towards the goods 03 until the goods 03 are tightly pressed on the goods 03 so as to clamp the goods; then, the mechanical arm C200 and the transverse moving motor C610 are started to move the goods to a stacking position and then place the goods in the stacking position; starting a side pressure driving cylinder C530, driving a side pressure plate C510 to reset away from the goods, and releasing the compaction of the multiple goods; and starting the suction cup scissor driving cylinder C430, driving the suction cup C410 to move away from the clamping jaw vertical plate C320 to push out the goods 03, and completing goods stacking. When the goods 03 need to be unloaded, the grabbing supporting plate C340 moves to the position below the target goods, the sucking disc scissor driving cylinder C430 is started, the sucking disc C410 is driven to move away from the clamping jaw vertical plate C320 until the sucking disc C410 is driven to be tightly pressed with the target goods, and the vacuum tank provides suction negative pressure for the sucking plate to enable the sucking disc to tightly suck the goods; the suction cup scissor driving cylinder C430 drives the suction cup C410 to move towards the clamping jaw vertical plate C320 until the target cargo is moved between the grabbing supporting plate C340 and the grabbing top plate C350, the side pressure driving cylinder C530 is started, the side pressure plate C510 compresses the target cargo, and the mechanical arm C200 and the transverse moving motor C610 move the target cargo to the unloading position; the side pressure plate C510 moves upward to be reset to release the compression of the target cargo, and then the target cargo is output.

Referring to fig. 21 to 23, preferably, a clamping plate adjusting tube C350 is further installed on the clamping jaw vertical plate C320, an adjusting tube groove C351 which is hollow is formed inside the clamping plate adjusting tube C350, the adjusting tube groove C351 is clamped with a top plate adjusting rod C331 and is assembled in a sliding manner, and one end of the top plate adjusting rod C331 is fixed on the clamping jaw top plate C330; the top plate adjusting rod C331 is also provided with an adjusting rod clamping groove C332, and the adjusting rod clamping groove C332 is clamped and assembled with the locking clamping teeth C361 on the locking block C360 so as to relatively fix the clamping plate adjusting tube C350 and the top plate adjusting rod C331; the locking block C360 is assembled with one end of a first connecting rod C371, the other end of the first connecting rod C371 penetrates through a retaining plate C321 and then is hinged with one end of a second connecting rod C372, the other end of the second connecting rod C372 is eccentrically hinged (hinged at a non-circle center) with a locking disc C380, the locking disc C380 is sleeved on a locking shaft C381, the locking shaft 381 is respectively assembled with a clamping jaw vertical plate C320 and a shaft bracket C322, the locking shaft 381 is further assembled with one end of a handle C390, and the other end of the handle 390 is an open end; the holding plate C321 and the shaft bracket C322 are both arranged on the clamping jaw vertical plate C320. The part of the first connecting rod C371 located between the locking block C360 and the holding plate C321 is sleeved with an locking spring C301, the locking spring C301 applies elastic force to the locking block C360 to press the top plate adjusting rod C331, and the locking latch C361 is kept in clamping assembly with the adjusting rod clamping groove C332. When the distance between the grabbing top plate C330 and the grabbing supporting plate C340 needs to be adjusted, the lock disc C380 only needs to be rotated through the handle, so that the lock disc C380 pulls the first connecting rod C371 and the locking block C360 to move away from the top plate adjusting rod C331 through the second connecting rod C372, and the distance between the clamping jaw vertical plate C320 and the grabbing supporting plate C340 can be manually adjusted until the adjusting rod clamping groove C332 is separated from the locking clamping tooth C361, so that the goods 03 with different widths can be adapted; after the adjustment is completed, the handle 390 is released, and the locking block C360 is pressed against the ceiling adjusting lever C331 by the locking spring C301 to fix the distance between the grabbed ceiling C330 and the grabbed pallet C340.

Referring to fig. 1-6, 10, 20, 25-24, the conveying device B includes a conveying positioning module B100 and a conveying extension module B200, the conveying positioning module B100 includes a conveying positioning frame B110 and a conveying positioning seat B120, the conveying positioning seat B120 is mounted on the conveying positioning frame B110, a positioning mounting block B111 is arranged on the conveying positioning frame B110, and the positioning mounting block B111 is fixedly assembled with one of the lifting bases a 110; a plurality of positioning universal wheels B520 are mounted at the bottom of the conveying positioning seat B120, and the positioning universal wheels B520 are used for supporting the conveying positioning seat B120 and facilitating the movement of the conveying positioning module B100.

The conveying positioning frame B110 is also provided with a positioning conveyer belt B320, and the positioning conveyer belt B320 is driven by a positioning conveyer motor to operate so as to convey the goods 03. The conveying positioning seat B120 is further provided with a plurality of positioning support frames B130, the positioning support frames B130 are circumferentially and rotatably provided with positioning rollers B131, and a support frame inter-frame groove B132 is formed between the two positioning support frames B130. When the loading device is used, the clamping jaw supporting plate C340 is arranged in the inter-supporting-frame groove B132, the positioning supporting frame B130 is arranged in the inter-supporting-plate groove C342, and then the positioning conveying belt B320 is used for conveying goods 03 to a position between the clamping jaw supporting plate C340 and the clamping jaw top plate C330 to complete loading of the goods. Or the clamping jaw supporting plate C340 moves the unloaded goods 03 to the positioning supporting frame B130 and the positioning conveying belt B320, the goods 03 can be placed on the positioning supporting frame B130 and the positioning conveying belt B320 along with the downward movement of the clamping jaw supporting plate C340, and then the unloaded goods are output by using the positioning conveying belt B320.

The conveying positioning seat B120 is further provided with a positioning seat inserting groove B121, and the positioning seat inserting groove B121 is used for being assembled with the extension conveying module B200, so that continuous conveying of goods is facilitated.

The conveying extension module B200 comprises an extension frame B210, an extension conveying belt B310 is installed on the extension frame B210, and the extension conveying belt B310 is driven by an extension motor B410, so that the conveying of goods 03 between the extension conveying module B200 and the conveying positioning module B100 can be realized. A plurality of extension universal wheels B510 are mounted at the bottom of the extension frame B210, and the extension universal wheels B510 are used for supporting the extension frame B210 and facilitating the movement of the conveying extension module B200. The extension frame B210 is further provided with an extension seat B220, an extension inserting block B211 and an extension connecting plate B212, and the extension seat B220 is provided with an extension inserting slot B221; the extension plug block B211 is inserted into the positioning seat plug-in slot B121 and is assembled with the positioning seat plug-in slot B, the open end of the extension connecting plate B212 is tightly attached to the outer side of the conveying positioning seat B120, and the extension bolt B213 passes through the extension connecting plate B212 and is assembled and fixed with the conveying positioning seat B120 through screwing, so that the conveying extension module B200 and the conveying positioning module B100 are assembled into a whole.

Of course, two conveying extension modules B200 may be assembled, and at this time, in the extension slot B221 of the next conveying extension module B200 after the extension plug B211 of the previous conveying extension module B200, the extension bolt B213 may be assembled and fixed with the extension base B220 of the next conveying extension module B200 after passing through the extension connection plate B212 of the previous conveying extension module B200. This way, several series connections of transport extension modules B200 can be implemented to meet transport requirements of different lengths.

In this embodiment, the process of loading the cargo compartment 02 is as follows:

s1, a main frame A carries a conveying device B to enter a cargo compartment 02, and two lifting mechanisms move away from each other until four pressure sensors A430 or obtained pressure values are within a preset threshold value, so that the main frame and the cargo compartment are positioned;

s2, the industrial camera acquires a three-dimensional image of the cargo compartment, reconstructs a three-dimensional space and a corresponding coordinate system, and plans a cargo placement mode by combining the size of the cargo;

s3, the conveying device B conveys the goods to be loaded, the goods enter the conveying positioning module B100 and are grabbed by the grabbing mechanism C, the mechanical arm C200, the transverse moving assembly C100 and the main frame are lifted to move the goods to the corresponding stacking positions, and then the goods are pushed out to finish stacking of the goods.

And S4, continuously repeating the steps S1 to S3 until the goods are stacked or the goods compartment is full, and withdrawing the main frame A from the goods compartment.

The unloading process is as follows:

s1, positioning a main frame A and a cargo compartment through an industrial camera and a visual recognition technology, adjusting the position of the main frame A in the center line of the cargo compartment, acquiring stacking data of a first row of cargos and calculating a discharge path;

s2, the grabbing module C moves to a target cargo, the cargo is pulled into the clamping jaw supporting plate C340 through a sucking disc to be clamped, then the cargo is rotated to the conveying positioning module B100, and the cargo is output by combining the conveying extension module B200;

and S3, after the main frame A enters the cargo compartment, positioning with the cargo compartment is required to be completed (the four pressure sensors A430 or the obtained pressure values are within a preset threshold), and then the cargo is continuously unloaded.

Example two

In the first embodiment, the gripper frame C300 is moved by the robot arm C200, which has a large degree of freedom and flexibility, but the robot arm C200 is relatively expensive and has a small load, and thus cannot be used when facing heavy goods. In this regard, the present embodiment is optimized as follows:

referring to fig. 28 to 35, the robot arm C200 is removed, and the grabbing frame C900 is added, the first traverse seat C110 is respectively provided with a first pulling frame C160 and a second pulling frame C170, two sides of the first traverse seat C110 are respectively hinged to one end of four pulling frame connecting rods C810, and the other end of the four pulling frame connecting rods C810 is hinged to the grabbing frame C900, so as to form a parallelogram linkage. The middle part of at least one bracket connecting rod C810 is hinged with one end of a driving rod C820, the other end of the driving rod C820 is provided with a connecting rod shaft C830, the connecting rod shaft C830 and the telescopic shaft of the connecting rod electric cylinder C650 can be assembled in a circumferential rotation mode, and the shell of the connecting rod electric cylinder C650 is hinged with the first transverse moving seat C110. After the connecting rod electric cylinder C650 is started, the telescopic shaft of the driver can axially stretch, so that the grabbing frame C900 is driven to move relative to the first transverse moving seat C110 to realize the position adjustment of the grabbing frame C900 in the conveying direction of the conveying module, the height fine adjustment of the grabbing frame C900 can be realized on the one hand, the horizontal position fine adjustment can be realized on the other hand in the conveying direction of the conveying module, and meanwhile, the grabbing frame C900 can move upwards and the top of the grabbing frame C900 can be close to the first beam A160, so that the grabbing frame C900 can adapt to higher goods. Since the top of the cargo bed is generally closed, the first cross member a160, the traverse assembly C100, etc. obviously occupy a certain height, which makes it impossible for the jaw frame to carry cargo at a height closer to the top of the cargo bed. However, the grabbing frame C900 can be lifted and moved out of the position below the first cross beam by adopting a parallel four-bar mechanism, so that the grabbing frame C can adapt to goods approaching the top of the cargo compartment.

The first bracket C160 and the second bracket C170 are respectively provided with a first supporting plate C161 and a second supporting plate C171; a movable support C910 is arranged on the grabbing frame C900, a first movable support plate C911 and a second movable support plate C912 are respectively arranged on the movable support C910, the first movable support plate C911 is positioned above and tightly attached to the second supporting plate C171, and the first movable support plate C911 is rotatably assembled with the bottom of the clamping jaw shell C310 through a first turntable bearing C921; the second movable plate C912 is rotatably mounted to the top of the jaw housing C310 by a second turntable bearing C922, such that the jaw housing C310 can rotate relative to the movable bracket C910. The edge of the second removable support plate C912 presses against the top surface of the first C161 plate, thereby allowing the first C161 plate to support the second removable support plate C912.

The movable support C910 is further provided with a rotary electric cylinder C660 and a rack holder C930, the rack holder C930 is provided with a rack plate optical axis C931, a rack plate C940 is sleeved on the rack plate optical axis C931 in an axially sliding manner, a rotary rack C740 is installed on the rack plate C940, the rotary rack C740 is in meshing transmission with a rotary gear C750, the rotary gear C750 is sleeved on a rotary pipe C950, and the rotary pipe C950 is assembled and fixed with the clamping jaw shell C310 after penetrating through a second turntable bearing C922; the rack plate C940 is also assembled with the telescopic shaft of the rotary electric cylinder C660, and the rotary electric cylinder C660 can drive the rack plate C940 to move axially along the rack plate optical axis C931 after being started, so that the rotary rack C740 drives the rotary pipe C950 to rotate, and the jaw housing C310 is also driven to rotate.

Preferably, an auxiliary industrial camera C601 is further installed on the grabbing frame C900, and the auxiliary industrial camera C601 is used for acquiring an image of the goods stacking position for further spatial modeling and recognition, so as to facilitate the control of goods stacking.

Preferably, the rotating pipe C950 is internally provided with a hollow pipe hole C951, the pipe hole C951 and the connector plug C603 are assembled in a circumferential rotation manner, the connector plug C603 is mounted on the movable support C910, and the connector plug C603 is electrically connected with the power supply connector C106 through a lead C602, so as to supply power to the grasping module C. And the mode that the power supply line passes through the pipe hole C951 can prevent the wire from winding and bending after the clamping jaw shell C310 rotates. Of course, spring cable is preferred for the power supply line.

Referring to fig. 34 to 35, in order to detect the rotation angle of the jaw housing C310, in this embodiment, a first limit switch C671 and a second limit switch C672 are further installed on the movable bracket C910, and a trigger piece C311 is installed on the jaw housing C310, where the trigger piece C311 can trigger the first limit switch C671 and the second limit switch C672 alternatively, and after the first limit switch C671 and the second limit switch C672 are triggered, a signal is input to the PLC, so that the PLC determines that the trigger piece C311 is rotated in place.

The process of stacking the goods in this embodiment is as follows:

s1, conveying goods to a conveying positioning module B100 by a conveying device B, and clamping the goods by a clamping jaw frame C300;

s2, starting a lifting mechanism to drive the goods to move upwards to be higher than the conveying positioning module B100;

s3, starting a rotary electric cylinder C660, driving a clamping jaw frame C300 and goods to rotate 180 degrees, then moving the transverse moving assembly C100 carrying the goods in the width direction of the goods compartment, controlling the goods to move in the height direction by a lifting mechanism, and starting a connecting rod electric cylinder C650 if necessary to find a stacking position;

and S4, approaching the goods to the stacking position, starting the suction cup scissor driving cylinder C430, and pushing out and placing the goods at the corresponding position.

The process of taking out the goods is the same as that of the first embodiment, but the movement of the mechanical arm is replaced by the connecting rod electric cylinder C650, the rotating electric cylinder C660 and a corresponding structure, specifically, after the goods are taken out, the clamping jaw frame rotates reversely by 180 degrees, then the clamping jaw frame moves to the position above the conveying and positioning module B100, and then the clamping jaw frame moves downwards to reset and output the goods.

Referring to fig. 28-30 and 36-40, the conveyor B in the first embodiment can only accommodate a small part of the goods in a fixed width manner due to the variation of the size of the goods, so that the adaptability is not wide. In this regard, the present embodiment is optimized as follows:

the two conveying extension modules B200 are used in pair, the extension slots B221 of the two pairs of conveying extension modules B200 are engaged with the extension insertion blocks B211 of the next pair of conveying extension modules B200, the extension bolts B213 penetrate through the extension connection plates B212 of the next pair of conveying extension modules B200 and are then engaged and fixed with the extension seats B220 of the previous pair of conveying extension modules B200, the extension insertion blocks B211 are engaged and engaged with the fixed frame slots B231 of the fixed frame B230, and the locking bolts B250 penetrate through the fixed frame B230 and then are pressed against the extension insertion blocks B211 to fix the pair of conveying extension modules B200 in the width direction.

A connecting plug block B240 is needed to be used under the condition that the next pair of conveying extension modules B200 does not exist, the connecting plug block B240 is clamped into the extension slot B221, a plug block connecting plate B241 is arranged on the connecting plug block B240, and an extension bolt B213 penetrates through the plug block connecting plate B241 and then is assembled and fixed with an extension base B220; the connection plug B240 is engaged with and fitted into the fixing groove B231 of the fixing frame B230, and the locking bolt B250 passes through the fixing frame B230 and then is pressed against the connection plug B240 to fix the pair of transport extension modules B200 in the width direction. Here, the connection block B240 may be regarded as an extension block B211. When the conveying device is used, the distance between the same pair of conveying extension modules B200 can be adjusted after the locking bolts B250 are loosened so as to adjust the maximum width capable of conveying, and then the locking bolts B250 are screwed.

The width adjusting part B600 is added to the conveying positioning module B100, and the conveying positioning frame B110 is fixedly assembled with one of the lifting bases A110; the conveying positioning frame B110 is provided with a first width-adjusting guide rail B140 and a positioning scissor mechanism B711, two ends of the positioning scissor mechanism B711 are assembled with the positioning belt frame B150 and the conveying positioning frame B110 respectively, the positioning belt frame B150 is arranged on the conveying positioning seat B120, the positioning belt frame B150 is provided with a positioning conveying belt B320 and a positioning conveying motor B420, and the positioning conveying motor B420 drives the positioning conveying belt B320 to run so as to convey goods. The conveying positioning seat B120 is provided with a positioning guide rail groove B122, and the positioning guide rail groove B122 is engaged with and slidably mounted on the first width-adjusting guide rail B140. After the positioning scissors mechanism B711 is activated, the conveying positioning seat B120 can be driven to move along the first width-adjusting guide rail B140, so as to adjust the position of the positioning conveyor belt B320 relative to the main frame.

The conveying positioning seat B120 is further provided with a positioning support frame B130, the positioning support frame B130 is rotatably provided with a plurality of positioning rollers B131, and the positioning support frame B130 of the embodiment is similar to the embodiment. The conveying positioning seat B120 is further provided with a positioning seat insertion groove B121, and the function and the embodiment of the positioning seat insertion groove B121 are the same as those of the embodiment.

The width adjusting part B600 comprises a width adjusting frame B610, the width adjusting frame B610 and the other lifting base A110 are assembled and fixed, a width adjusting scissor mechanism B712 and a second width adjusting guide rail B640 are respectively installed on the width adjusting frame B610, two ends of the width adjusting scissor mechanism B712 are respectively assembled with the width adjusting frame B610 and the width adjusting sliding frame B630, the width adjusting sliding frame B630 is installed on a width adjusting base B620, and a width adjusting base groove B622 and a width adjusting insertion groove B621 are arranged on the width adjusting base B620; the function of the width-adjusting insertion groove B621 is the same as that of the positioning seat insertion groove B121, and the width-adjusting insertion groove B621 is mainly used for connecting and assembling with the corresponding conveying extension module B200. The width-adjusting sliding frame B630 is provided with a width-adjusting conveying belt B330 and a width-adjusting supporting frame B630, the width-adjusting supporting frame B630 is circumferentially and rotatably provided with a width-adjusting roller B631, and the function of the width-adjusting supporting frame B630 is the same as that of the positioning supporting frame B130 and is used for auxiliary supporting of goods. The width-adjusting conveying belt B330 is used for conveying goods, the width-adjusting conveying belt B330 is driven by a width-adjusting motor B450, and the width-adjusting motor B450 is installed on a width-adjusting supporting frame B630.

The positioning guide rail groove B122 and the width-adjusting seat groove B622 can be mounted on the first width-adjusting guide rail B140 and the second width-adjusting guide rail B640 in a clamping and sliding manner, and the first width-adjusting guide rail B140 and the second width-adjusting guide rail B640 are assembled in a clamping and sliding manner. During use, the width adjusting rack B610 and the conveying and positioning rack B110 move along with the movement of the two lifting mechanisms, so that the first width adjusting guide rail B140 and the second width adjusting guide rail B640 are far away from each other and pulled out, but an overlapping part of 20 cm or more must exist between the first width adjusting guide rail B140 and the second width adjusting guide rail B640, and the connecting rigidity between the width adjusting part B600 and the conveying and positioning module B100 is ensured. The width-adjusting fork mechanism B712 and the positioning fork mechanism B711 are driven to extend respectively, so as to drive the conveying positioning seat B120 and the width-adjusting seat B620 to move close to each other until the positioning conveyor belt B320 and the width-adjusting conveyor belt B330 can be respectively pressed against two ends of the goods to convey the goods. At this time, the conveying positioning seat B120 is at least clamped and assembled with the first width-adjusting guide rail B140, and the width-adjusting seat B620 is at least clamped and assembled with the second width-adjusting guide rail B640, so that stable conveying of the positioning conveying belt B320 and the width-adjusting conveying belt B330 can be effectively ensured. In this embodiment, there are two first width-adjusting guide rails B140 and two second width-adjusting guide rails B640, so as to further increase the stability of the conveying positioning seat B120 and the width-adjusting seat B620. Because even if the first width-adjusting guide rails B140 and the second width-adjusting guide rails B640 overlap, the two first width-adjusting guide rails B140 can be tightly clamped with the two second width-adjusting guide rails B640, thereby increasing the rigidity of the connection.

Preferably, the width-adjusting scissor mechanism B712 and the positioning scissor mechanism B711 are respectively driven by different driving assemblies, each driving assembly includes a screw B730, a scissor slider B722 and a slider guide rail B721, the scissor slider B722 is mounted on the conveying positioning frame B110 or the width-adjusting frame B610, and the screw B730 is circumferentially rotatable and axially immovably mounted on the conveying positioning frame B110 or the width-adjusting frame B610; the screw B730 penetrates through the scissors sliding block B722 and is assembled with the scissors sliding block B722 in a threaded screwing manner, the scissors sliding block B722 is clamped and slidably mounted on the sliding block guide rail B721, one end of the screw B730 is connected with an output shaft of the scissors motor B430, the scissors shaft B430 can be driven to rotate after being started, and the screw B730 drives the scissors sliding block B722 to move, so that the corresponding width-adjusting scissors mechanism B712 or the corresponding positioning scissors mechanism B711 is driven to stretch and retract.

Preferably, in order to ensure the power supply of the positioning transportation motor B420 and the width adjusting motor B450, in this embodiment, a first transportation winding roll B441 and a second transportation winding roll B442 are respectively mounted on the transportation positioning frame B110 and the width adjusting frame B610, and cables of the first transportation winding roll B441 and the second transportation winding roll B442 respectively supply power to the transportation motor B420 and the width adjusting motor B450, so that the transportation motor B420 and the width adjusting motor B450 can still obtain power supply after moving. The first conveying winding roll B441 and the second conveying winding roll B442 are respectively connected with the corresponding lifting mechanisms. In this embodiment, the motors and the electric cylinders are both servo motors and servo electric cylinders, which are mainly used to ensure synchronization, for example, the extension motor B410, the positioning and conveying motor B420, and the width adjusting motor B450 of the same pair of conveying extension modules B200, and the electric cylinders driving the lifting mechanisms to lift, etc., are almost synchronous when the current servo motors can achieve thousands of rotation speeds, so as to completely meet the requirements of the present application, which is common knowledge and will not be described again.

In this embodiment, the width-adjusting insertion groove B620 is engaged with the corresponding extension insertion block B211, and the extension bolt B213 penetrates through the extension connection plate B212 and then is assembled with the width-adjusting seat B620, so as to achieve the assembly and fixation of the width-adjusting part B600 and the corresponding conveying extension module B200.

The scissor mechanism of the present embodiment is also called a scissor mechanism, which is a well-established prior art, and the specific principle can be looked at on the scissor mechanism part (lifting driving part) of the existing scissor lift.

Claims

1. The cargo loading and unloading device for the cargo compartment is characterized by comprising a main frame and a grabbing module, wherein the grabbing module is movably arranged on the main frame, and the main frame carries the grabbing module to move so as to convey or grab cargos at different positions; the grabbing module comprises a transverse moving assembly, a mechanical arm and a clamping jaw frame, the transverse moving assembly is mounted on the main frame, the mechanical arm is mounted on the transverse moving assembly, and the mechanical arm is assembled with the clamping jaw frame;

the clamping jaw frame comprises a clamping jaw shell, a clamping jaw vertical plate, a clamping jaw top plate and a clamping jaw supporting plate, wherein the clamping jaw supporting plate and the clamping jaw shell are fixed on the clamping jaw vertical plate, and the clamping jaw shell is assembled with the mechanical arm; the sucking disc assembly is further installed on the part, located between the clamping jaw supporting plate and the clamping jaw top plate, of the clamping jaw vertical plate and comprises a sucking disc, a sucking disc shearing fork mechanism and a sucking disc shearing fork driving cylinder, the two ends of the sucking disc shearing fork mechanism are assembled with the clamping jaw vertical plate and the sucking disc respectively, and the sucking disc shearing fork driving cylinder is installed on the clamping jaw vertical plate and used for driving the sucking disc shearing fork mechanism.

2. The loading and unloading device for the cargo truck as claimed in claim 1, wherein the two sides of the clamping jaw top plate are respectively provided with a side pressure component, the side pressure components comprise a side pressure plate, a side pressure scissor mechanism and a side pressure driving cylinder, the two ends of the side pressure scissor mechanism are respectively assembled with the side pressure plate and the clamping jaw top plate, and the side pressure driving cylinder is arranged on the clamping jaw top plate and is used for driving the side pressure scissor mechanism to operate.

3. The cargo loading and unloading device for a cargo compartment as claimed in claim 1, wherein a clamping plate adjusting tube is further mounted on the clamping jaw vertical plate, a hollow adjusting tube groove is formed in the clamping plate adjusting tube, the adjusting tube groove is clamped and slidably assembled with the top plate adjusting rod, and one end of the top plate adjusting rod is fixed on the clamping jaw top plate; the top plate adjusting rod is also provided with an adjusting rod clamping groove, and the adjusting rod clamping groove is clamped and assembled with the locking clamping teeth on the locking block to relatively fix the clamping plate adjusting pipe and the top plate adjusting rod;

the locking block is assembled with one end of a first connecting rod, the other end of the first connecting rod penetrates through the retaining plate and then is hinged with one end of a second connecting rod, the other end of the second connecting rod is eccentrically hinged with a locking disc, the locking disc is sleeved on a locking shaft, the locking shaft is respectively assembled with the clamping jaw vertical plate and the shaft bracket, the locking shaft is also assembled with one end of a handle, and the other end of the handle is an open end; the holding plate and the shaft bracket are both arranged on the clamping jaw vertical plate;

the part of the first connecting rod, which is positioned between the locking block and the holding plate, is sleeved with a locking spring, and the locking spring exerts elastic force on the locking block to press the top plate adjusting rod.

4. The cargo handling device of claim 1 wherein the main frame comprises two lifting mechanisms, each lifting mechanism comprising a lifting base, a scissor lifting mechanism, and a lifting top seat, the lifting base and the lifting top seat being mounted on upper and lower ends of the scissor lifting mechanism, respectively; at least two main frame wheels are further mounted on the lifting base, and the main frame wheels are integrated with a hub motor;

the lifting top seat of one lifting mechanism is assembled with one end of the first cross beam, the lifting top seat of the other lifting mechanism is assembled with one end of the second cross beam, and the first cross beam and the second cross beam are assembled in a staggered, clamped and sliding mode;

the first cross beams and the second cross beams are respectively provided with two, the two first cross beams are respectively arranged at the outer sides of the two second cross beams, a cross beam groove is formed between the two second cross beams, the second cross beams and the first cross beams at two sides of the cross beam groove are respectively a pair of cross beam groups, namely, the two sides of the cross beam groove are respectively provided with a pair of cross beam groups;

the first cross beam is provided with a first cross beam platform and a first rack, and the second cross beam is provided with a second cross beam platform and a second rack.

5. The load handling device of claim 4, wherein said first and second traverse tables have a first and second conductive strip mounted thereon, respectively; the first conductive strip and the second conductive strip are made of high-conductivity materials;

the first conductive strips or the second conductive strips of the two pairs of beam groups are respectively and electrically connected with two electrodes of a direct current power supply; the first conductive strip and the second conductive strip of the same pair of beam groups are respectively compressed and conducted with the first conductive block and the second conductive block, the second conductive block and the second conductive strip are compressed, slide and conduct electricity, the second conductive block is electrically connected with one end of the electric-leading column, and the electric-leading column is sleeved with an insulating sleeve;

the electric conduction column is also electrically connected with one end of the spring wire, and the other end of the spring wire is electrically connected with the first conductive block; the insulating sleeve penetrates through the insulating partition plate and is assembled with the insulating partition plate in an axial sliding mode, the insulating partition plate is installed in the electricity leading groove, the electricity leading groove is formed in the first cross beam, the second conducting block is clamped and installed in the electricity leading groove in a sliding mode, an insulating spring is sleeved on the portion, located between the insulating partition plate and the second conducting block, of the insulating sleeve, and the insulating spring exerts elastic force pressing the second conducting bar on the second conducting block so that the second conducting block can keep conducting with the second conducting bar in a pressing mode.

6. The cargo handling device of claim 5 wherein said second cross member further comprises a cross member slot, said cross member slot being closed at one end; the first cross beam is provided with a cross beam block, the cross beam block is arranged in the cross beam sliding groove and can be assembled with the cross beam sliding groove in a sliding mode, and the cross beam block is used for blocking the closed end of the cross beam sliding groove from passing through; and a side brush is arranged at the position, close to the beam block, of the first beam, bristles of the side brush are tightly pressed with the side face of the second conductive strip, and the side face of the second conductive strip is brushed by the side brush when the first beam and the second beam move relatively.

7. The device as claimed in claim 5, wherein the traverse assembly comprises a first traverse seat and a second traverse seat, the first traverse seat and the second traverse seat are fixedly connected by a traverse connecting seat, and a traverse roller is rotatably mounted on the second traverse seat; the transverse moving connecting seat penetrates through the cross beam groove and is clamped and assembled with the cross beam groove in a sliding mode, the first cross beam and the second cross beam are clamped tightly by the first transverse moving seat and the second transverse moving seat, and the transverse moving roller is tightly pressed with the top surfaces of the first cross beam and the second cross beam;

the first transverse moving seat is provided with a mechanical arm and a transverse moving motor, a motor shaft of the transverse moving motor is provided with a first transverse moving gear and a second transverse moving gear, and the first transverse moving gear and the second transverse moving gear are in meshing transmission with a first rack and a second rack respectively.

8. The cargo handling device for a cargo box according to claim 5 wherein two power take-off assemblies are further mounted on the second traverse seat, the power take-off assemblies being adapted to be electrically connected to the first conductive strip or the second conductive strip of the corresponding beam set; the electricity taking assembly comprises an electricity taking arm, one end of the electricity taking arm is hinged with the transverse connection seat through an electricity taking arm shaft, a first insulation box is mounted at the open end of the electricity taking arm, a second insulation box is mounted at the part, located between the electricity taking arm shaft and the first insulation box, of the electricity taking arm, hollow first insulation chutes and hollow second insulation chutes are respectively arranged in the first insulation box and the second insulation box, and first electricity taking blocks and second electricity taking blocks are respectively mounted in the first insulation chutes and the second insulation chutes in a sliding mode; the first power taking block can be in compression conduction with the corresponding first conductive strip, and the second power taking block can be in compression conduction with the corresponding second conductive strip;

in an initial state, the first electricity taking block and the corresponding first conducting bar are pressed for conducting electricity, and the second electricity taking block and the corresponding second conducting bar do not contact to take electricity; the first electricity taking block and the second electricity taking block are respectively and electrically connected with one end of the first electricity taking column and one end of the second electricity taking column, the other end of the first electricity taking column is sleeved with a first electricity taking spring and then penetrates out of the first insulating box, and the first electricity taking spring applies a pushing force on the first electricity taking block to press the first conductive bar; the other end of the second electricity taking column penetrates out of the electricity taking arm after being sleeved with a second electricity taking spring, and the second electricity taking spring applies a pushing force for pressing the second conductive bar to the second electricity taking block; the two electricity taking assemblies are respectively and electrically connected with two electrodes of a power supply connector, the power supply connector is arranged on the first transverse moving seat, and power supplies of the grabbing module are accessed through the power supply connector;

and a load resistor and a relay are sequentially connected in series between the first electricity taking block and the second electricity taking block, two stationary contacts of the relay are respectively and electrically connected with the first electricity taking block and the second electricity taking block, a movable contact of the relay is electrically connected with a cable for supplying power to the power supply connector, and the relay controls one of the first electricity taking block and the second electricity taking block to be electrically connected with the power supply connector.

9. The cargo handling device of claim 7 wherein the first traverse gear is provided with a first slot, the first slot having a first stop mounted therein; a second sinking groove is formed in the second transverse moving gear, and a second blocking block is installed in the second sinking groove; the first blocking block is inserted into the second sinking groove, the second blocking block is inserted into the first sinking groove, a gear spring is arranged between the second blocking block and the first blocking block, and the gear spring is used for generating elastic force for blocking the second blocking block and the first blocking block from approaching each other; one of the first transverse gear and the second transverse gear is non-circularly and rotatably arranged on a motor shaft of the side shifting motor, and the other one is circularly and rotatably arranged on the motor shaft of the side shifting motor.

10. The cargo handling device for cargo compartments according to any one of claims 1 to 9, further comprising a conveying device for conveying the cargo, wherein the conveying device comprises a conveying positioning module and a conveying extension module, the conveying positioning module comprises a conveying positioning frame and a conveying positioning seat, the conveying positioning seat is mounted on the conveying positioning frame, a positioning mounting block is arranged on the conveying positioning frame, and the positioning mounting block is fixedly assembled with one of the lifting bases;

the conveying positioning frame is also provided with a positioning conveying belt, and the positioning conveying belt is driven to run by a positioning conveying motor; the conveying positioning seat is also provided with a plurality of positioning support frames, positioning rollers are circumferentially and rotatably arranged on the positioning support frames, and a support frame groove is formed between the two positioning support frames; the conveying positioning seat is also provided with a positioning seat inserting groove which is used for assembling the extension conveying module;

the conveying extension module comprises an extension frame, an extension conveying belt is arranged on the extension frame, and the extension conveying belt is driven by an extension motor; the extension frame is also provided with an extension seat, an extension inserting block and an extension connecting plate, and the extension seat is provided with an extension inserting groove; the extension plug-in block is inserted into the positioning seat plug-in groove and is assembled with the positioning seat plug-in groove in a clamping mode, the open end of the extension connecting plate is attached to the outer side of the conveying positioning seat, the extension bolt penetrates through the extension connecting plate and then is assembled and fixed with the conveying positioning seat through threads in a screwing mode, and the conveying extension module and the conveying positioning module are assembled into a whole.