CN118270549A - Loading and unloading code wheel all-in-one with horizontal joint arm - Google Patents

Abstract

The application relates to a loading and unloading code wheel integrated machine with a horizontal joint arm, wherein a frame of the loading and unloading code wheel integrated machine comprises a front end frame and a rear end frame which are connected with each other; the material taking mechanism is used for grabbing bag cargoes to be loaded and unloaded in front of the frame through a horizontal joint arm; the fork mechanism utilizes the second vertical moving component and the first horizontal moving component to enable the bag goods grabbed by the material taking mechanism to move to the rear end frame through the objective table; the stacking mechanism utilizes the second horizontal moving assembly and the third horizontal moving assembly to enable the bag cargoes grabbed by the stacking sucker to move in the rear end frame and stack; the pushing mechanism is arranged at the lower part of the rear end frame and is used for pushing the bag cargoes after stacking to the rear end frame. The application solves the problems that the automatic loading and unloading of the bag goods is difficult to realize and a large amount of manpower is required to be consumed due to space limitation and complex environment during the transportation of the bag goods.

Description

Loading and unloading code wheel all-in-one with horizontal joint arm

Technical Field

The application relates to the technical field of transportation equipment, in particular to a code wheel loading and unloading integrated machine with a horizontal joint arm.

Background

Currently, in the field of logistics transportation of bag-packed goods, railway boxcars and van-type freight cars become the mainstream transportation means, and the transportation means are greatly affected by physical space limitations and variable environmental conditions, and when the goods reach a destination, the unloading process still depends on quite traditional and laborious methods. Specifically, the field operation is often carried around the manpower as the core, namely, the staff directly carries out the operation in a shoulder carrying mode, which is not only an extremely physical exertion activity, but also greatly tests the physical ability limit of the staff; on the basis, although fork trucks and some simple conveying devices are used as auxiliary tools, the auxiliary tools have more functions of locally reducing the burden rather than completely changing the operation mode; furthermore, certain occasions can adopt large and clumsy mechanical equipment to assist loading and unloading, although the level of mechanization is seemingly improved, most of the equipment is single in function, flexible conversion of different scenes is difficult to adapt, manual on-site command and intervention are still highly relied in actual operation, and heavy dependence on human resources cannot be avoided.

The current state of the art of logistics transportation leads to a series of problems: first, workers who directly participate in loading and unloading are extremely labor-intensive and are in such work environments for a long time, and not only are physical health compromised, but psychological stress is also increasing. Secondly, the working environment is generally poor, and enough safety protection measures and comfort level are lacked, so that the difficulty of work is further aggravated. Moreover, because of excessively relying on manpower, the whole loading and unloading speed is greatly limited, and the high-efficiency and rapid requirements of modern logistics are difficult to meet, so that the response speed of a supply chain and the customer satisfaction are influenced, the labor cost of enterprises is high, and the production efficiency is low.

In order to solve the problems, the invention provides a code wheel loading and unloading integrated machine which is different from the existing loading and unloading machines on the market, and has the characteristics of omnidirectional movement function, good maneuverability, autonomous guidance of a travelling route, strong environmental adaptability, low energy consumption, high automation and intelligent degree and the like. Especially, the bag visual recognition system is provided, so that the position, the posture and the like of the bag can be accurately recognized; possesses automatic pile up neatly function, can form effective linking with transfer equipment.

Disclosure of Invention

The application mainly solves the problems that the automatic loading and unloading of the bag goods is difficult to realize and a large amount of manpower is required to be consumed because of space limitation and complex environment during the transportation of the bag goods.

The embodiment of the application provides a loading and unloading code wheel all-in-one machine with a horizontal joint arm, which is used for loading, unloading and stacking bag cargos to be loaded and unloaded, and comprises the following components:

A frame including a front end frame and a rear end frame connected to each other, the front end frame being located at a front side of the rear end frame;

The material taking mechanism comprises a first vertical moving assembly and at least one horizontal joint arm, wherein the first vertical moving assembly is arranged on the front end frame, and the at least one horizontal joint arm is arranged on the first vertical moving assembly and moves in the vertical direction based on the first vertical moving assembly; the material taking mechanism is used for grabbing bag cargoes to be loaded and unloaded in front of the frame through the horizontal joint arm;

The fork mechanism comprises an objective table, a second vertical moving assembly and a first horizontal moving assembly, wherein the objective table is in a horizontal state and is used for placing bag cargos grabbed by the material taking mechanism; the second vertical moving component is arranged on the front end frame and is used for enabling the objective table and the first horizontal moving component to move in the vertical direction; the first horizontal moving component is arranged on the second numerical moving component and is used for enabling the objective table to move horizontally; the fork mechanism utilizes the second vertical moving component and the first horizontal moving component to enable the bag cargoes grabbed by the material taking mechanism to move to the rear end frame through the objective table;

The stacking mechanism comprises a stacking sucker, a second horizontal moving assembly and a third horizontal moving assembly, wherein the second horizontal moving assembly is arranged on the rear end frame and is used for enabling the stacking sucker and the third horizontal moving assembly to move along a first horizontal direction; the third horizontal moving assembly is arranged on the second horizontal moving assembly and is used for enabling the stacking suction disc to move along a second horizontal direction; the stacking sucker is arranged on the third horizontal moving assembly and is used for grabbing bag cargos on the object stage; the first horizontal direction is perpendicular to the second horizontal direction, and the stacking mechanism utilizes the second horizontal moving assembly and the third horizontal moving assembly to enable bag cargoes grabbed by the stacking suction cup to move in the rear end frame and stack;

The pushing mechanism is arranged at the lower part of the rear end frame and used for pushing out bag cargoes after stacking to the rear end frame.

In the above-mentioned code wheel loader with horizontal joint arm, as a preferable mode, the code wheel loader with horizontal joint arm further includes:

The stacking mechanism is arranged in the rear end frame and comprises a telescopic frame; the stacking mechanism is used for placing the bag cargoes on a tray when stacking, and the tray is arranged at the upper end of the telescopic frame; the stacking mechanism changes the height of the tray through the telescopic frame.

In the above-mentioned integrated machine for loading and unloading code wheel with horizontal joint arm, as an preferable scheme, the pushing mechanism comprises two bases arranged in parallel, each base is respectively provided with a pushing chain, and the two pushing chains synchronously rotate;

the stacking mechanism is arranged between the two bases and further comprises a stacking top plate, the stacking top plate is arranged at the top of the telescopic frame, and the tray is arranged above the stacking top plate;

When the telescopic frame is adjusted to enable the stacking top plate to be at the lowest position, the upper surface of the stacking top plate is lower than the height of the stacking pushing chain, the tray is supported by the stacking pushing chain, and when the stacking pushing chain rotates, the tray is pushed out to the rear end frame.

In the above-mentioned integrated machine for loading and unloading a code wheel with a horizontal joint arm, as an preferable scheme, the pushing mechanism further comprises a pushing motor and a reduction gearbox, the pushing motor is fixedly connected to the outer side of one base with the reduction gearbox, the output end of the pushing motor is connected with a sprocket of the pushing chain through the reduction gearbox, and the sprocket of the pushing chain is connected to the sprocket of the pushing chain on the other side through a rotating shaft;

when the output end of the stacking motor rotates, the chain wheels of the stacking chains on two sides synchronously rotate to drive the stacking chains on two sides to synchronously rotate.

In the above-mentioned integrated machine for loading and unloading code wheel with horizontal joint arm, as an preferable scheme, the pile lifting mechanism further comprises a pile lifting base plate and at least one pile lifting hydraulic cylinder;

The two sides of the stacking base plates are respectively and fixedly connected to the inner side surfaces of the two bases, and the telescopic frames are arranged above the stacking base plates;

At least one pile lifting hydraulic cylinder is arranged in the telescopic frame, and when the length of at least one pile lifting hydraulic cylinder is changed, the height of the telescopic frame is changed.

In the above-mentioned integrated code wheel loader and unloader with horizontal joint arm, as a preferable scheme, the first vertical moving assembly includes a movable portal and at least one first lifting plate;

The movable door frame is in a frame-shaped structure, second rails are vertically and fixedly arranged on two side frames of the movable door frame respectively, and first racks are vertically and fixedly arranged on the inner sides of the side frames of the movable door frame;

At least one horizontal joint arm is correspondingly provided with at least one first lifting plate respectively, each first lifting plate is provided with a lifting motor and a first gear, the lifting motors are fixedly connected to the first lifting plates, the output ends of the lifting motors are connected with the first gears, and the first gears are meshed with the first racks;

second sliding blocks are fixedly arranged on two sides of the first lifting plate respectively, and the second sliding blocks on two sides are in sliding connection with the second rails on two sides respectively;

When the lifting motor rotates, the output end of the lifting motor is connected with a first gear for rotation, and the first lifting plate corresponding to the lifting motor moves in the vertical direction in the movable door frame through the first rack, the second sliding block and the second track.

In the above-mentioned integrated loading and unloading code wheel machine with horizontal joint arms, as an preferable solution, the material taking mechanism includes two horizontal joint arms, the two horizontal joint arms are an upper horizontal joint arm and a lower horizontal joint arm, the upper horizontal joint arm and the lower horizontal joint arm are respectively corresponding to the two first lifting plates, and the two first lifting plates are both arranged in the movable portal;

the upper horizontal joint arm and the lower horizontal joint arm are respectively provided with an upper material taking sucker and a lower material taking sucker at the end parts, and the upper horizontal joint arm and the lower horizontal joint arm respectively grasp bag cargos to be loaded and unloaded in front of the frame through the upper material taking sucker and the lower material taking sucker.

In the above-mentioned integrated machine for loading and unloading code wheel with horizontal joint arm, as an preferable scheme, the first vertical moving component further comprises a first connecting plate, a portal column and an electric push rod;

The first connecting plate is fixedly connected to the front end frame;

The two portal stand columns are respectively and vertically fixedly arranged on the first connecting plate, and are respectively positioned at two sides of the movable portal; the two portal stand columns are respectively and vertically provided with a first track, two sides of the movable portal are respectively provided with a first sliding block corresponding to the two first tracks, and the first sliding blocks at two sides of the movable portal are respectively and slidably connected with the first tracks of the portal stand columns at two sides;

the electric push rod is vertically arranged, a hinge seat is arranged on the movable door frame, one end of the electric push rod is connected to the first connecting plate, and the other end of the electric push rod is hinged to the hinge seat of the movable door frame;

When the length of the electric push rod is changed, the movable door frame moves in the vertical direction through the first sliding block and the first track.

In the above-mentioned integrated code wheel loader and unloader with horizontal joint arm, as a preferable solution, the second vertical movement assembly includes a lifting frame, a third rail and a third rack;

The third track and the third rack are respectively and vertically fixed on the front end frames at two sides of the lifting frame, the lifting frame comprises two second lifting plates and two second connecting plates which are connected with each other in a frame shape in a tail-to-tail mode, a third gear is arranged on the outer side of the middle of each second lifting plate, a motor is arranged on the inner side of each second lifting plate corresponding to the third gear, the output end of the motor is connected with the third gear, and the third gear is meshed with the first rack;

The two ends of the second lifting plate are respectively provided with a third sliding block, two third rails are respectively and vertically fixedly arranged on the front end frames at the two ends of the second lifting plate, and the third sliding blocks at the two ends of the second lifting plate are respectively and slidably connected with the two third rails;

The objective table is installed through two the second connecting plate, when the third gear rotates, the lifting frame moves in the vertical direction through the third sliding block and the third track.

In the above-mentioned integrated machine for loading and unloading code wheel with horizontal joint arm, as a preferable scheme, the first horizontal moving component comprises a fork baseplate and a bedplate;

The objective table is arranged on the bedplate in a sliding manner, the bedplate is arranged above the fork baseplate in a sliding manner, and the fork baseplate is fixedly connected with the second vertical moving component.

In the above-mentioned integrated machine for loading and unloading code wheel with horizontal joint arm, as a preferable scheme, two sides of the bedplate are respectively provided with side rails, and the objective table is slidably connected with the bedplate through the side rails;

The pallet fork base plate is slidably connected with the bedplate through the guide groove, the side edge of the guide groove is provided with the translation motor, the output end of the translation motor is connected with the second gear, and the lower surface of the bedplate is provided with a rack corresponding to the second gear; when the translation motor drives the second gear to rotate, the platen moves along the direction of the guide groove.

In the above-mentioned code wheel integrated machine with a horizontal joint arm, as an preferable solution, the first horizontal moving assembly further includes a first cable and a second cable;

one end of the first stay rope is fixedly connected to the lower surface of the bedplate, and the other end of the first stay rope bypasses the end face of the first end of the bedplate and is fixedly connected to the lower surface of the objective table;

One end of the second stay rope is fixedly connected to the pallet fork base plate, and the other end of the second stay rope bypasses the end face of the second end of the bedplate and is fixedly connected to the lower surface of the objective table;

One end of each of the first inhaul cable and one end of each of the second inhaul cables are respectively provided with a winding motor, and the winding motors are used for winding and unwinding the connected first inhaul cable or second inhaul cable; the connection part of the first inhaul cable and the first end of the bedplate is provided with a roller, and the connection part of the second inhaul cable and the second end of the bedplate is provided with a roller.

In the above-mentioned loading and unloading code wheel all-in-one with horizontal articulated arm, as the preferred scheme, the second horizontal movement subassembly includes stack base plate, second walking motor, two fourth sliders and two fourth tracks, two the fourth tracks are in along first horizontal direction parallel arrangement on the rear end frame, the stack base plate sets up along the second horizontal direction, two the fourth sliders set up respectively the both ends of stack base plate, and respectively with two the fourth track sliding connection, the second walking motor is installed on the stack base plate, the second walking motor output is connected with the second walking wheel, the second walking wheel is used for making the stack base plate is along first horizontal direction removal.

In the above-mentioned integrated machine for loading and unloading a code wheel with a horizontal joint arm, as an preferable solution, the third horizontal movement assembly includes a fifth slider, a first travelling motor and two fifth rails, where the two fifth rails are disposed on two sides of the upper surface of the stacking base plate along the second horizontal direction, and the fifth slider is slidably connected with the two fifth rails;

The first travelling motor is arranged on the fifth sliding block, the output end of the first travelling motor is connected with a first travelling wheel, and the first travelling wheel is used for enabling the fifth sliding block to move along a second horizontal direction;

The fifth sliding block is further provided with an air cylinder, the stacking base plate is provided with a through groove along the second horizontal direction, and a piston rod of the air cylinder penetrates through the through groove of the stacking base plate from top to bottom and then is connected with the stacking sucker.

In the above-mentioned integrated code wheel loader and unloader with horizontal joint arm, as an preferable scheme, the integrated code wheel loader and unloader with horizontal joint arm further includes a chassis mechanism, where the chassis mechanism is disposed at the bottom of the frame and is used for moving the frame;

The chassis mechanism comprises at least four travelling wheels, and the four travelling wheels are respectively positioned below four corners of the frame.

According to the loading and unloading code wheel integrated machine with the horizontal joint arm, the automatic material taking mechanism, the fork mechanism, the stacking mechanism and the pushing mechanism of the horizontal joint arm are adopted, so that direct manual carrying work is greatly reduced, workers do not need to carry heavy objects by shoulder, the labor intensity of the workers is greatly reduced, and the working environment is improved; through a highly integrated automatic process, continuous and rapid operation from material taking to stacking is realized, frequent manual intervention is not needed, the overall speed of loading and unloading operation is remarkably improved, cargo treatment can be completed more rapidly, and the requirements of modern logistics on high efficiency and rapid response are met; through the multi-degree-of-freedom movement capability combination (such as the multi-dimensional movement capability of the horizontal joint arm and the two-dimensional horizontal movement capability of the stacking mechanism) of each part of the components, the multi-degree-of-freedom movement mechanism can flexibly adapt to bag cargoes with different sizes and weights and diversified loading and unloading environments, improves the universality and the adaptability of the equipment, and reduces the dependence on customized equipment in specific scenes.

Drawings

Fig. 1 is a schematic general structural diagram (a) of an integrated loading and unloading code wheel machine with a horizontal joint arm according to an embodiment of the present application;

Fig. 2 is a schematic general structural diagram (two) of a code wheel loader with a horizontal joint arm according to an embodiment of the present application;

FIG. 3 is a schematic diagram (I) of an overall structure of a material taking mechanism of a loading and unloading code wheel integrated machine with a horizontal joint arm according to an embodiment of the present application;

fig. 4 is a schematic general structural diagram (ii) of a material taking mechanism of a loading and unloading code wheel integrated machine with a horizontal joint arm according to an embodiment of the present application;

FIG. 5 is a schematic diagram (I) of the overall structure of a pallet fork mechanism of a loading and unloading code wheel integrated machine with a horizontal articulated arm according to an embodiment of the present application;

FIG. 6 is a schematic diagram (II) of the overall structure of a pallet fork mechanism of a loading and unloading code wheel integrated machine with a horizontal articulated arm according to an embodiment of the present application;

fig. 7 is a schematic general structural diagram (a) of a stacking mechanism of an integrated loading and unloading code wheel machine with a horizontal joint arm according to an embodiment of the present application;

fig. 8 is a schematic general structural diagram (two) of a stacking mechanism of an integrated loading and unloading code wheel machine with a horizontal joint arm according to an embodiment of the present application;

FIG. 9 is a schematic diagram of the overall structure of a destacking mechanism and a destacking mechanism of a loading and unloading palletizer with a horizontal articulated arm according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of an integrated loading and unloading code wheel machine with a horizontal joint arm according to an embodiment of the present application.

In the figure:

1. a frame; 101. a front end frame; 102. a rear end frame;

2. A material taking mechanism; 201. a first connection plate; 202. an electric push rod; 203. a movable door frame; 204. a portal column; 205. a first slider; 206. a first track; 207. a hinge base; 208. an upper horizontal articulated arm; 209. feeding a material sucking disc; 210. a lower horizontal articulated arm; 211. a first lift plate; 212. a first rack; 213. a first gear; 214. a lower material taking sucker; 215. lifting the motor; 216. a second slider; 217. a second track;

3. A fork mechanism; 301. an objective table; 302. a side rail; 303. a platen; 304. a first cable; 305. a fork base plate; 306. a second guy cable; 307. a second gear; 308. a translation motor; 309. a guide groove; 310. a second connecting plate; 311. a third slider; 312. a second lift plate; 313. a third gear; 314. a third rack; 315. a third track;

4. A chassis mechanism;

5. a pushing mechanism; 501. a stacking motor; 502. a gearbox; 503. a base; 504. a stacking chain;

6. a stacking mechanism; 601. lifting a stack substrate; 602. a pile-lifting hydraulic cylinder; 603. a telescopic frame; 604. lifting a stack top plate;

7. a stacking mechanism; 701. a fourth track; 702. a fourth slider; 703. a fifth track; 704. stacking the substrates; 705. a cylinder; 706. a first traveling motor; 707. a fifth slider; 708. stacking suction cups; 709. a second traveling motor;

8. A tray; 9. the bags to be piled up; 10. the bag is piled up.

Detailed Description

The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.

Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.

The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.

Referring to fig. 1 and 2, in order to solve the problem that the automation of the loading and unloading of the bag cargo is difficult to achieve due to space limitation and complex environment and a lot of manpower is required during the transportation of the bag cargo, the embodiment of the application provides a loading and unloading code wheel integrated machine with a horizontal joint arm, which is used for loading and unloading and stacking the bag cargo to be loaded and unloaded, and the loading and unloading code wheel integrated machine with the horizontal joint arm comprises a frame 1, a material taking mechanism 2, a fork mechanism 3, a stacking mechanism 7 and a pushing mechanism 5, and is specifically described below.

The vehicle frame 1, the vehicle frame 1 includes a front end frame 101 and a rear end frame 102 connected to each other, the front end frame 101 being located on a front side of the rear end frame 102.

The material taking mechanism 2 comprises a first vertical moving component and at least one horizontal joint arm, wherein the first vertical moving component is arranged on the front end frame 101, and the at least one horizontal joint arm is arranged on the first vertical moving component and moves in the vertical direction based on the first vertical moving component; the material taking mechanism 2 is used for grabbing bag cargoes to be loaded and unloaded in front of the frame 1 through a horizontal joint arm.

The fork mechanism 3 comprises an objective table 301, a second vertical moving component and a first horizontal moving component, wherein the objective table 301 is in a horizontal state and is used for placing bag cargos grabbed by the material taking mechanism 2; a second vertical moving assembly mounted on the front end frame 101 for moving the stage 301 and the first horizontal moving assembly in a vertical direction; the first horizontal movement assembly is mounted on the second numerical movement assembly for moving the stage 301 in a horizontal direction; the fork mechanism 3 moves the bag cargo grasped by the pick-up mechanism 2 to the rear end frame 102 through the stage 301 using the second vertical moving assembly and the first horizontal moving assembly.

A stacking mechanism 7 including a stacking suction cup 708, a second horizontal movement assembly and a third horizontal movement assembly, the second horizontal movement assembly being provided on the rear end frame 102 for moving the stacking suction cup 708 and the third horizontal movement assembly in a first horizontal direction; a third horizontal movement assembly is mounted on the second horizontal movement assembly for moving the stacking suction cups 708 in a second horizontal direction; a stacking suction cup 708 is provided on the third horizontal movement assembly for gripping the bag cargo on the stage 301; the first horizontal direction and the second horizontal direction are perpendicular to each other, and the stacking mechanism 7 moves and stacks the bag cargos gripped by the stacking suction cup 708 in the rear end frame 102 by using the second horizontal movement assembly and the third horizontal movement assembly.

The pushing mechanism 5 is arranged at the lower part of the rear end frame 102, and the pushing mechanism 5 is used for pushing the bag cargoes after stacking to the rear end frame 102.

In the above-described code wheel loader and unloader with a horizontal joint arm, preferably, the code wheel loader and unloader with a horizontal joint arm further includes: the stacking mechanism 6 is arranged in the rear end frame 102 and comprises a telescopic bracket 603; the stacking mechanism 7 is used for placing the bag cargoes on a tray 8 when stacking, and the tray 8 is arranged at the upper end of the telescopic frame 603; the stacking mechanism 6 changes the height of the tray 8 through the telescopic frame 603.

Referring to fig. 9, in the above-mentioned integrated loading and unloading device with horizontal articulated arm, as a preferred solution, the pushing mechanism 5 includes two parallel bases 503, each base 503 is respectively provided with a pushing chain 504, and the two pushing chains 504 rotate synchronously; the stacking mechanism 6 is arranged between the two bases 503, the stacking mechanism 6 further comprises a stacking top plate 604, the stacking top plate 604 is arranged at the top of the telescopic frame 603, and the tray 8 is arranged above the stacking top plate 604; when the telescopic frame 603 is adjusted so that the top plate 604 is at the lowest position, the upper surface of the top plate 604 is lower than the height of the stacking chain 504, the tray 8 is supported by the stacking chain 504, and when the stacking chain 504 rotates, the tray 8 is pushed out rearward of the rear end frame 102.

In the above-mentioned integrated machine for loading and unloading a code wheel with a horizontal joint arm, as a preferred scheme, the pushing mechanism 5 further comprises a pushing motor 501 and a reduction gearbox, the pushing motor 501 is fixedly connected to the outer side of a base 503 with the reduction gearbox, the output end of the pushing motor 501 is connected with a sprocket of a pushing chain 504 through the reduction gearbox, and the sprocket of the pushing chain 504 is connected with a sprocket of another pushing chain 504 through a rotating shaft; when the output end of the stacking motor 501 rotates, the chain wheels of the stacking chains 504 on two sides synchronously rotate to drive the stacking chains 504 on two sides to synchronously rotate.

In the above-mentioned integrated machine for loading and unloading code wheel with horizontal joint arm, as a preferable scheme, the pile lifting mechanism 6 further comprises a pile lifting base plate 601 and at least one pile lifting hydraulic cylinder 602; two sides of the stacking base plate 601 are fixedly connected to the inner side surfaces of the two bases 503 respectively, and the telescopic frames 603 are arranged above the stacking base plate 601; at least one stacking hydraulic cylinder 602 is provided in the telescopic frame 603, and when the length of at least one stacking hydraulic pressure is changed, the height of the telescopic frame 603 is changed.

Referring to fig. 3 and 4, in the above-mentioned integrated code wheel loader with horizontal articulated arm, the first vertical moving assembly preferably includes a movable gantry 203 and at least one first lifting plate 211; the movable door frame 203 is in a frame-shaped structure, second rails 217 are vertically and fixedly arranged on the side frames of the two sides of the movable door frame 203 respectively, and first racks 212 are vertically and fixedly arranged on the inner sides of the side frames of the movable door frame 203; at least one horizontal joint arm is respectively and correspondingly provided with at least one first lifting plate 211, each first lifting plate 211 is provided with a lifting motor 215 and a first gear 213, the lifting motor 215 is fixedly connected to the first lifting plate 211, the output end of the lifting motor 215 is connected with the first gear 213, and the first gear 213 is meshed with the first rack 212; the two sides of the first lifting plate 211 are fixedly provided with second sliding blocks 216 respectively, and the second sliding blocks 216 on the two sides are connected with second rails 217 on the two sides in a sliding manner respectively; when the lifting motor 215 rotates, the output end of the lifting motor 215 is connected with the first gear 213 to rotate, and the first lifting plate 211 corresponding to the lifting motor 215 moves in the vertical direction in the movable door frame 203 through the first rack 212, the second slide block 216 and the second track 217.

In the above-mentioned integrated loading and unloading code wheel machine with horizontal joint arms, as a preferred solution, the material taking mechanism 2 includes two horizontal joint arms, the two horizontal joint arms are an upper horizontal joint arm 208 and a lower horizontal joint arm 210, respectively, the two first lifting plates 211 corresponding to the upper horizontal joint arm 208 and the lower horizontal joint arm 210 respectively, and the two first lifting plates 211 are both disposed in the movable gantry 203; the ends of the upper horizontal joint arm 208 and the lower horizontal joint arm 210 are respectively provided with an upper material taking sucker 209 and a lower material taking sucker 214, and the upper horizontal joint arm 208 and the lower horizontal joint arm 210 respectively grasp bag cargos to be loaded and unloaded in front of the frame 1 through the upper material taking sucker 209 and the lower material taking sucker 214.

In some embodiments, a visual sensor is arranged at the material taking sucker of the horizontal joint arm, and three-dimensional position information of the bag goods is obtained through a computer visual system through the visual sensor, so that the horizontal joint arm can grasp the bag goods through the material taking sucker.

In the above-mentioned integrated code wheel loader with horizontal joint arm, as a preferred solution, the first vertical moving assembly further includes a first connecting plate 201, a portal column 204 and an electric push rod 202; the first connection plate 201 is fixedly connected to the front end frame 101; the two portal stand columns 204 are respectively and vertically fixedly arranged on the first connecting plate 201, and the two portal stand columns 204 are respectively positioned on two sides of the movable portal 203; the two portal stand columns 204 are vertically provided with first tracks 206 respectively, two sides of the movable portal 203 are provided with first sliding blocks 205 corresponding to the two first tracks 206 respectively, and the first sliding blocks 205 at two sides of the movable portal 203 are connected with the first tracks 206 of the portal stand columns 204 at two sides in a sliding manner respectively; the electric push rod 202 is vertically arranged, the movable door frame 203 is provided with a hinge seat 207, one end of the electric push rod 202 is connected to the first connecting plate 201, and the other end of the electric push rod 202 is hinged to the hinge seat 207 of the movable door frame 203; when the length of the electric putter 202 is changed, the movable gantry 203 moves in the vertical direction by the first slider 205 and the first rail 206.

In some embodiments, the horizontal joint arm is matched with the material taking sucker, so that the device is stable and reliable, and the horizontal joint arm needs small movable space and is suitable for a closed space with a narrow carriage. The loading and unloading code wheel all-in-one machine is configured in a mode of an upper horizontal mechanical arm and a lower horizontal mechanical arm, and is provided with a first gear 213, a first rack 212 mechanism and an electric push rod 202 two-stage telescopic mechanism in a first vertical moving group, so that the height range of two horizontal joint arms can be prolonged, the working condition with higher height is adapted, and meanwhile, the height of the loading and unloading code wheel all-in-one machine in a non-working state is reduced so as to adapt to the height limitation in the transition process. The independent action control of the two horizontal joint arms and the coordinated control when the two horizontal joint arms work simultaneously are key points and key points in the control of the integrated loading and unloading code disc machine.

Referring to fig. 6, in the above-mentioned integrated code wheel loader with horizontal articulated arm, the second vertical movement assembly preferably includes a lifting frame, a third rail 315 and a third rack 314; the third rail 315 and the third rack 314 are respectively and vertically fixed on the front end frames 101 at two sides of the lifting frame, the lifting frame comprises two second lifting plates 312 and two second connecting plates 310 which are connected in a frame shape in a tail-to-tail manner, a third gear 313 is arranged at the outer side of the middle part of each second lifting plate 312, a motor is arranged at the inner side of each second lifting plate 312 corresponding to each third gear 313, the output end of the motor is connected with the third gear 313, and the third gear 313 is meshed with the first rack 212; the two ends of the second lifting plate 312 are respectively provided with a third sliding block 311, two third rails 315 are respectively and vertically fixed on the front end frame 101 at the two ends of the second lifting plate 312, and the third sliding blocks 311 at the two ends of the second lifting plate 312 are respectively and slidably connected with the two third rails 315; the stage 301 is mounted by two second connection plates 310, and when the third gear 313 rotates, the lifting frame moves in the vertical direction by the third slider 311 and the third rail 315.

Referring to fig. 5, in the above-mentioned integrated code wheel loader with horizontal articulated arm, as a preferred solution, the first horizontal moving component includes a fork base 305 and a platen 303; the stage 301 is slidably disposed on the platen 303, and the platen 303 is slidably disposed over the fork substrate 305, and the fork substrate 305 is fixedly connected to the second vertically moving assembly.

In the above-mentioned integrated loading and unloading code wheel machine with horizontal joint arm, as a preferable scheme, two sides of the bedplate 303 are respectively provided with a side rail 302, and the objective table 301 is slidably connected with the bedplate 303 through the side rails 302; a translation motor 308, a guide groove 309 and a second gear 307 are arranged on the fork substrate 305, the fork substrate 305 is in sliding connection with the bedplate 303 through the guide groove 309, the translation motor 308 is arranged on the side edge of the guide groove 309, the output end of the translation motor 308 is connected with the second gear 307, and a rack corresponding to the second gear 307 is arranged on the lower surface of the bedplate 303; when the translation motor 308 rotates the second gear 307, the platen 303 moves in the direction of the guide groove 309.

In the above-mentioned code wheel integrated machine with a horizontal joint arm, as a preferred solution, the first horizontal moving assembly further includes a first cable 304 and a second cable 306; one end of a first stay cable 304 is fixedly connected to the lower surface of the platen 303, and the other end of the first stay cable bypasses the end surface of the first end of the platen 303 and is fixedly connected to the lower surface of the objective table 301; one end of a second stay 306 is fixedly connected to the pallet fork substrate 305, and the other end of the second stay bypasses the end surface of the second end of the bedplate 303 and is fixedly connected to the lower surface of the objective table 301; one end of each of the first pull rope 304 and one end of each of the second pull ropes 306 are respectively provided with a winding motor, and the winding motors are used for winding and unwinding the connected first pull rope 304 or second pull rope 306; the connection of the first pull rope 304 and the first end of the bedplate 303 is provided with a roller, and the connection of the second pull rope 306 and the second end of the bedplate 303 is provided with a roller.

Referring to fig. 7 and 8, in the above-mentioned integrated loading and unloading code wheel machine with a horizontal joint arm, as a preferred solution, the second horizontal moving assembly includes a stacking base 704, a second walking motor 709, two fourth sliders 702 and two fourth rails 701, the two fourth rails 701 are disposed on the rear end frame 102 in parallel along the first horizontal direction, the stacking base 704 is disposed along the second horizontal direction, the two fourth sliders 702 are disposed at two ends of the stacking base 704 and are slidably connected with the two fourth rails 701, the second walking motor 709 is mounted on the stacking base 704, the output end of the second walking motor 709 is connected with a second walking wheel, and the second walking wheel is used for moving the stacking base 704 along the first horizontal direction.

In the above-mentioned integrated code wheel loader with horizontal joint arm, as a preferred solution, the third horizontal movement assembly includes a fifth slider 707, a first traveling motor 706, and two fifth rails 703, where the two fifth rails 703 are disposed on two sides of the upper surface of the stacking base 704 along the second horizontal direction, and the fifth slider 707 is slidably connected to both the two fifth rails 703; the first walking motor 706 is mounted on the fifth sliding block 707, and a first walking wheel is connected to the output end of the first walking motor 706 and is used for enabling the fifth sliding block 707 to move along the second horizontal direction; the fifth sliding block 707 is further provided with an air cylinder 705, a through groove is formed in the stacking base plate 704 along the second horizontal direction, and a piston rod of the air cylinder 705 penetrates through the through groove of the stacking base plate 704 from top to bottom and then is connected with a stacking suction cup 708.

In the above-mentioned code wheel loader with horizontal joint arm, as a preferable scheme, the code wheel loader with horizontal joint arm further comprises a chassis mechanism 4, wherein the chassis mechanism 4 is arranged at the bottom of the frame 1 and is used for moving the frame 1; the chassis mechanism 4 comprises at least four travelling wheels which are respectively positioned below four corners of the frame 1.

In some embodiments, the chassis mechanism 4 is a heavy-load AGV trolley with four steering wheels for omni-directional running, and the four steering wheels are adopted for driving, so that 360-degree rotation, side movement and arbitrary curve movement in situ can be realized, the space required by equipment steering and displacement is effectively reduced, and the four-steering wheel type AGV trolley is suitable for relatively narrow enclosed spaces such as carriages. The four steering wheels can be used for realizing larger torque output, providing enough driving force for the vehicle, ensuring that the device can adapt to various running environments and bad road surfaces, simultaneously effectively reducing the gravity center of the device and improving the stability of the device.

In some embodiments, please refer to fig. 10, the working principle of the code wheel loading and unloading integrated machine is as follows:

After the train or the automobile cargo carriage is parked in place, the loading and unloading code wheel integrated machine autonomously guides the chassis mechanism 4to move to the position of the automobile door in all directions, adjusts the gesture and prepares for getting on the automobile. Before getting on, the device needs to carry out unloading operation on the bags 9 to be piled at the car door under the assistance of manpower so as to vacate the space required by getting on. After the vehicle is loaded, the four steering wheels of the chassis mechanism 4 move cooperatively under the control of the self-guiding system, and the distance between the equipment and the bag and the left and right space positions in the carriage of the equipment are adjusted. Typically, the apparatus is parked on the vehicle body centerline.

After the position adjustment is completed, the steering wheel is locked, and the unloading operation is started. During unloading, the material taking mechanism 2 acts, the whole movable door frame 203 assembly of the material taking mechanism is lifted under the action of the electric push rod 202, and the upper horizontal joint arm 208 is lifted along the movable door frame 203 under the action of the gear rack, so that the vacuum suction cup at the tail end of the upper horizontal joint arm 208 reaches the working height. Correspondingly, the double-extension fork (namely the fork mechanism 3) extends forwards to the receiving position after rising to the receiving height on the lifting frame. During this process, the lower horizontal articulated arm 210 remains stationary in the inactive state and the palletizing zone mechanism remains stationary.

After the position of the bag is confirmed, the big arm and the small arm of the upper horizontal joint arm 208 swing, after the vacuum chuck reaches the ideal position, the whole upper horizontal joint arm 208 is lowered down and tightened, and the bag is sucked up by the pressurization of the material taking chuck. The swing arm swings in the horizontal plane, the pressure is released after the material taking sucker reaches the material receiving position of the double-extension-position fork, the bag falls onto the double-extension-position fork object stage 301, and the object stage 301 retracts after receiving the material and descends in the front end frame 101. When the upper surface of the bag on the double-extension fork is lower than the stacking suction cup 708 of the stacking mechanism 7, the object stage 301 extends reversely to the feeding station, and the bag is fed to the position below the stacking suction cup 708.

When the forks are presented to the palletizing area, the palletizing suction cups 708 pick up the bags off the fork surface and the forks retract. The stacking mechanism 7 adjusts the position and translates the bags to the corresponding positions according to the set stacking sequence and route. At the same time, the stacking mechanism 6 lifts the tray 8. After the tray 8 contacts with the bags, the suction force is released by the suction disc of the stacking device, the bags are put down, and unloading and stacking of one bag are completed, so that the stacked bags 10 on the tray 8 are obtained.

If so, the lower horizontal arm 210 is activated when the bag in the upper half of the first section is removed. At this time, the upper horizontal joint arm 208 is changed to disassemble the bag 9 to be palletized in the upper half of the second section, and the lower horizontal joint arm 210 is changed to disassemble the bag 9 to be palletized in the lower half of the first section. After the lower horizontal joint arm 210 finishes unloading the bag at the lower half part of the first section, the integrated device for loading and unloading the code wheel moves forward by a section distance, and then the upper horizontal joint arm 208 continues to detach the bag 9 to be palletized above the third section, and the lower horizontal joint arm 210 detaches the bag 9 to be palletized below the second section.

It should be noted that, as the number of stacking layers on the tray 8 increases, the push rod extension length of the stacking mechanism 6 decreases, so that the stacking position of the whole stack of bags decreases. When a pile is full, the push rod of the pile lifting mechanism 6 is completely retracted, and the height of the pile lifting mechanism 6 is reduced below the height of the pile pushing mechanism 5. At this time, the pallet 8 and the entire stack of bags are supported by the destacking mechanism 5. After the downstream equipment transports AGV in place, the double-speed chain of the pushing mechanism 5 starts to rotate, drives the tray 8 and the whole pile of bags to be output to the rear of the equipment, and achieves the pushing function.

Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc., and the program is executed by a computer to realize the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.

The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.

Claims (15)

1. The utility model provides a loading and unloading code wheel all-in-one with horizontal articulated arm for the bag package goods handling that treat loading and unloading is piled up, its characterized in that, loading and unloading code wheel all-in-one with horizontal articulated arm includes:

A frame including a front end frame and a rear end frame connected to each other, the front end frame being located at a front side of the rear end frame;

The material taking mechanism comprises a first vertical moving assembly and at least one horizontal joint arm, wherein the first vertical moving assembly is arranged on the front end frame, and the at least one horizontal joint arm is arranged on the first vertical moving assembly and moves in the vertical direction based on the first vertical moving assembly; the material taking mechanism is used for grabbing bag cargoes to be loaded and unloaded in front of the frame through the horizontal joint arm;

The fork mechanism comprises an objective table, a second vertical moving assembly and a first horizontal moving assembly, wherein the objective table is in a horizontal state and is used for placing bag cargos grabbed by the material taking mechanism; the second vertical moving component is arranged on the front end frame and is used for enabling the objective table and the first horizontal moving component to move in the vertical direction; the first horizontal moving component is arranged on the second numerical moving component and is used for enabling the objective table to move horizontally; the fork mechanism utilizes the second vertical moving component and the first horizontal moving component to enable the bag cargoes grabbed by the material taking mechanism to move to the rear end frame through the objective table;

The stacking mechanism comprises a stacking sucker, a second horizontal moving assembly and a third horizontal moving assembly, wherein the second horizontal moving assembly is arranged on the rear end frame and is used for enabling the stacking sucker and the third horizontal moving assembly to move along a first horizontal direction; the third horizontal moving assembly is arranged on the second horizontal moving assembly and is used for enabling the stacking suction disc to move along a second horizontal direction; the stacking sucker is arranged on the third horizontal moving assembly and is used for grabbing bag cargos on the object stage; the first horizontal direction is perpendicular to the second horizontal direction, and the stacking mechanism utilizes the second horizontal moving assembly and the third horizontal moving assembly to enable bag cargoes grabbed by the stacking suction cup to move in the rear end frame and stack;

The pushing mechanism is arranged at the lower part of the rear end frame and used for pushing out bag cargoes after stacking to the rear end frame.

2. The code wheel loader with horizontal articulated arm of claim 1, wherein the code wheel loader with horizontal articulated arm further comprises:

The stacking mechanism is arranged in the rear end frame and comprises a telescopic frame; the stacking mechanism is used for placing the bag cargoes on a tray when stacking, and the tray is arranged at the upper end of the telescopic frame; the stacking mechanism changes the height of the tray through the telescopic frame.

3. The code wheel integrated loading and unloading machine with the horizontal joint arm according to claim 2, wherein the pushing mechanism comprises two bases which are arranged in parallel, each base is respectively provided with a pushing chain, and the two pushing chains synchronously rotate;

the stacking mechanism is arranged between the two bases and further comprises a stacking top plate, the stacking top plate is arranged at the top of the telescopic frame, and the tray is arranged above the stacking top plate;

When the telescopic frame is adjusted to enable the stacking top plate to be at the lowest position, the upper surface of the stacking top plate is lower than the height of the stacking pushing chain, the tray is supported by the stacking pushing chain, and when the stacking pushing chain rotates, the tray is pushed out to the rear end frame.

4. The integrated loading and unloading code wheel machine with the horizontal joint arm according to claim 3, wherein the pushing mechanism further comprises a pushing motor and a reduction box, the pushing motor is fixedly connected to the outer side of one base through the reduction box, the output end of the pushing motor is connected with a sprocket of the pushing chain through the reduction box, and the sprocket of the pushing chain is connected with a sprocket of the pushing chain on the other side through a rotating shaft;

when the output end of the stacking motor rotates, the chain wheels of the stacking chains on two sides synchronously rotate to drive the stacking chains on two sides to synchronously rotate.

5. The code wheel loader with horizontal articulated arm of claim 3, wherein the stacking mechanism further comprises a stacking base and at least one stacking hydraulic cylinder;

The two sides of the stacking base plates are respectively and fixedly connected to the inner side surfaces of the two bases, and the telescopic frames are arranged above the stacking base plates;

At least one pile lifting hydraulic cylinder is arranged in the telescopic frame, and when the length of at least one pile lifting hydraulic cylinder is changed, the height of the telescopic frame is changed.

6. The code wheel loader with horizontal articulated arm of claim 1, wherein the first vertical movement assembly comprises a moveable mast and at least one first lift plate;

The movable door frame is in a frame-shaped structure, second rails are vertically and fixedly arranged on two side frames of the movable door frame respectively, and first racks are vertically and fixedly arranged on the inner sides of the side frames of the movable door frame;

At least one horizontal joint arm is correspondingly provided with at least one first lifting plate respectively, each first lifting plate is provided with a lifting motor and a first gear, the lifting motors are fixedly connected to the first lifting plates, the output ends of the lifting motors are connected with the first gears, and the first gears are meshed with the first racks;

second sliding blocks are fixedly arranged on two sides of the first lifting plate respectively, and the second sliding blocks on two sides are in sliding connection with the second rails on two sides respectively;

When the lifting motor rotates, the output end of the lifting motor is connected with a first gear for rotation, and the first lifting plate corresponding to the lifting motor moves in the vertical direction in the movable door frame through the first rack, the second sliding block and the second track.

7. The code wheel loader with horizontal articulated arm according to claim 6, wherein the material taking mechanism comprises two horizontal articulated arms, the two horizontal articulated arms are an upper horizontal articulated arm and a lower horizontal articulated arm respectively, the upper horizontal articulated arm and the lower horizontal articulated arm respectively correspond to the two first lifting plates, and the two first lifting plates are both arranged in the movable door frame;

the upper horizontal joint arm and the lower horizontal joint arm are respectively provided with an upper material taking sucker and a lower material taking sucker at the end parts, and the upper horizontal joint arm and the lower horizontal joint arm respectively grasp bag cargos to be loaded and unloaded in front of the frame through the upper material taking sucker and the lower material taking sucker.

8. The code wheel loader with horizontal articulated arm of claim 6, wherein the first vertical movement assembly further comprises a first connection plate, a mast upright, and an electric pushrod;

The first connecting plate is fixedly connected to the front end frame;

The two portal stand columns are respectively and vertically fixedly arranged on the first connecting plate, and are respectively positioned at two sides of the movable portal; the two portal stand columns are respectively and vertically provided with a first track, two sides of the movable portal are respectively provided with a first sliding block corresponding to the two first tracks, and the first sliding blocks at two sides of the movable portal are respectively and slidably connected with the first tracks of the portal stand columns at two sides;

the electric push rod is vertically arranged, a hinge seat is arranged on the movable door frame, one end of the electric push rod is connected to the first connecting plate, and the other end of the electric push rod is hinged to the hinge seat of the movable door frame;

When the length of the electric push rod is changed, the movable door frame moves in the vertical direction through the first sliding block and the first track.

9. The code wheel loader with horizontal articulated arm of claim 1, wherein the second vertical movement assembly comprises a lifting frame, a third rail, and a third rack;

The third track and the third rack are respectively and vertically fixed on the front end frames at two sides of the lifting frame, the lifting frame comprises two second lifting plates and two second connecting plates which are connected with each other in a frame shape in a tail-to-tail mode, a third gear is arranged on the outer side of the middle of each second lifting plate, a motor is arranged on the inner side of each second lifting plate corresponding to the third gear, the output end of the motor is connected with the third gear, and the third gear is meshed with the first rack;

The two ends of the second lifting plate are respectively provided with a third sliding block, two third rails are respectively and vertically fixedly arranged on the front end frames at the two ends of the second lifting plate, and the third sliding blocks at the two ends of the second lifting plate are respectively and slidably connected with the two third rails;

The objective table is installed through two the second connecting plate, when the third gear rotates, the lifting frame moves in the vertical direction through the third sliding block and the third track.

10. The code wheel loader with horizontal articulated arm of claim 1, wherein the first horizontal movement assembly comprises a fork base, a pallet;

The objective table is arranged on the bedplate in a sliding manner, the bedplate is arranged above the fork baseplate in a sliding manner, and the fork baseplate is fixedly connected with the second vertical moving component.

11. The code wheel loader and unloader all-in-one with horizontal articulated arm according to claim 10, wherein two sides of the bedplate are respectively provided with a side rail, and the object stage is slidably connected with the bedplate through the side rails;

The pallet fork base plate is slidably connected with the bedplate through the guide groove, the side edge of the guide groove is provided with the translation motor, the output end of the translation motor is connected with the second gear, and the lower surface of the bedplate is provided with a rack corresponding to the second gear; when the translation motor drives the second gear to rotate, the platen moves along the direction of the guide groove.

12. The code wheel loader with horizontal articulated arm of claim 11, wherein the first horizontal movement assembly further comprises a first cable and a second cable;

one end of the first stay rope is fixedly connected to the lower surface of the bedplate, and the other end of the first stay rope bypasses the end face of the first end of the bedplate and is fixedly connected to the lower surface of the objective table;

One end of the second stay rope is fixedly connected to the pallet fork base plate, and the other end of the second stay rope bypasses the end face of the second end of the bedplate and is fixedly connected to the lower surface of the objective table;

One end of each of the first inhaul cable and one end of each of the second inhaul cables are respectively provided with a winding motor, and the winding motors are used for winding and unwinding the connected first inhaul cable or second inhaul cable; the connection part of the first inhaul cable and the first end of the bedplate is provided with a roller, and the connection part of the second inhaul cable and the second end of the bedplate is provided with a roller.

13. The code wheel integrated machine with horizontal joint arms according to claim 1, wherein the second horizontal moving assembly comprises a stacking base plate, a second traveling motor, two fourth sliding blocks and two fourth tracks, the two fourth tracks are arranged on the rear end frame in parallel along a first horizontal direction, the stacking base plate is arranged along a second horizontal direction, the two fourth sliding blocks are respectively arranged at two ends of the stacking base plate and are respectively connected with the two fourth tracks in a sliding manner, the second traveling motor is mounted on the stacking base plate, and the output end of the second traveling motor is connected with a second traveling wheel which is used for enabling the stacking base plate to move along the first horizontal direction.

14. The code wheel loader and unloader all-in-one with horizontal joint arm according to claim 13, wherein the third horizontal movement assembly comprises a fifth slider, a first traveling motor and two fifth rails, the two fifth rails are disposed on both sides of the upper surface of the stacking base along the second horizontal direction, and the fifth slider is slidably connected with both the fifth rails;

The first travelling motor is arranged on the fifth sliding block, the output end of the first travelling motor is connected with a first travelling wheel, and the first travelling wheel is used for enabling the fifth sliding block to move along a second horizontal direction;

The fifth sliding block is further provided with an air cylinder, the stacking base plate is provided with a through groove along the second horizontal direction, and a piston rod of the air cylinder penetrates through the through groove of the stacking base plate from top to bottom and then is connected with the stacking sucker.

15. The code wheel loader with horizontal joint arm integrated machine according to claim 1, further comprising a chassis mechanism arranged at the bottom of the frame for moving the frame;

The chassis mechanism comprises at least four travelling wheels, and the four travelling wheels are respectively positioned below four corners of the frame.