CN118619170A - Loading and unloading system and loading and unloading method - Google Patents

Abstract

The application provides a loading and unloading system and a loading and unloading method. The loading and unloading system comprises a supporting component and a supporting beam; the fork assembly is arranged on the supporting beam, a moving mechanism for enabling the fork assembly to move along the supporting beam is arranged on the fork assembly, and a rotating mechanism for rotating the fork assembly in the fork opening direction is arranged on the fork assembly; the plurality of fork assemblies including a first fork assembly and a second fork assembly, the handling system having a first state and a second state, the movement mechanism and the rotation mechanism for switching the handling system between the first state and the second state; in the first state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged in opposite directions, and in the second state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged side by side and face the same direction. In the loading and unloading system, the compatibility and the switching of the loading states of two materials of the side loading tail loading can be realized through the movement and the rotation of the first fork assembly and the second fork assembly.

Description

Loading and unloading system and loading and unloading method

Technical Field

The application belongs to the field of material loading and unloading, and particularly relates to a loading and unloading system and a loading and unloading method.

Background

At present, most factories adopt manual work to fork out whole box material from a warehouse discharge hole, then fork the whole box material onto a truck, and manually load the truck. The simple fork type loading machine is adopted individually, the fork type loading machine is used for taking materials through the fork openings of the fork bars, so that loading and unloading of the materials are realized, but the conventional fork type loading machine is generally only provided with a single loading and unloading mode, and various loading demands are difficult to meet.

Disclosure of Invention

The embodiment of the application aims to provide a loading and unloading system and a loading and unloading method, which are used for solving the technical problem of single loading and unloading mode in the prior art.

In order to achieve the above purpose, the application adopts the following technical scheme: there is provided a handling system comprising:

a support assembly having a support beam;

the fork assembly is arranged on the supporting beam, a moving mechanism for enabling the fork assembly to move along the supporting beam is arranged on the fork assembly, and a rotating mechanism for rotating the fork assembly in the fork opening direction is arranged on the fork assembly;

Wherein the plurality of fork assemblies includes a first fork assembly and a second fork assembly, the handling system having a first state and a second state, the movement mechanism and the rotation mechanism being configured to switch the handling system between the first state and the second state;

In the first state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged in opposite directions, and in the second state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged side by side and face the same direction.

Optionally, the moving mechanism includes a moving driving member, a first gear and a first rack, the first rack is disposed on the support beam, the first gear is disposed on the fork assembly and engaged with the first rack, and the moving driving member is disposed on the fork assembly and connected with the first gear in a transmission manner, so as to drive the first gear to move along the first rack.

Optionally, the fork assembly comprises a moving frame and a main body frame, the moving frame is connected to the supporting beam through a moving mechanism, the rotating mechanism comprises a rotary driving piece and a slewing bearing, the slewing bearing is connected between the moving frame and the main body frame, and the rotary driving piece is in transmission connection with the slewing bearing to drive the moving frame and the main body frame to rotate relatively.

Optionally, the fork assembly includes main part frame, fork arm and the elevating system who is used for promoting the fork arm, and the fork arm sets up on the fork arm frame, and the fork arm frame is along the lift direction clearance fit of fork arm with the main part frame, and elevating system includes the lift driver, and the lift driver is connected in between main part frame and the fork arm frame and is used for driving the fork arm and goes up and down.

Optionally, the fork assembly includes a pressing member and a pressing driving member, wherein the pressing member is movably matched with the main body frame along a pressing direction of the pressing member, and the pressing member is located above the fork rod, and the pressing driving member is in transmission connection with the pressing member and is used for driving the pressing member to move along the pressing direction.

Optionally, the fork assembly includes a fork bar transverse movement driving member for driving the fork bar to transversely move, the fork bar and the fork bar frame are movably matched along a fork bar transverse movement direction, the fork bar transverse movement direction is perpendicular to the fork opening direction and perpendicular to the lifting direction, and the fork bar transverse movement driving member is in transmission connection with the fork bar for driving the fork bar to move along the fork bar transverse movement direction.

Optionally, an elastic buffer mechanism for providing elastic buffer for lateral direction of the fork rod is arranged between the fork rod lateral movement driving piece and the fork rod.

Optionally, the buffer mechanism comprises a spring, a guide rod seat and a guide seat, wherein the guide rod is connected to the guide rod seat, the guide seat is provided with a guide hole, the guide rod is inserted in the guide hole, the spring is sleeved on the guide rod and is positioned between the guide rod seat and the guide seat, the guide rod seat is connected to the fork rod transverse moving driving piece, and the guide seat is connected to the fork rod.

Optionally, the loading and unloading system further comprises a walking mechanism for driving the supporting assembly to walk, the walking mechanism comprises a walking driving piece, walking wheels and a walking rail, the walking rail is arranged along the walking direction of the supporting assembly, the walking wheels are arranged at the bottom of the supporting assembly and are in rolling fit with the walking rail, and the walking driving piece is arranged on the supporting assembly and is in transmission connection with the walking wheels for driving the walking wheels to move along the walking rail.

Optionally, the loading and unloading system further comprises a running mechanism for driving the supporting component to run and a rain cloth covering mechanism for covering the rain cloth for the loading vehicle, the rain cloth covering component comprises a rain cloth and a rain cloth lifting roller, the rain cloth lifting roller is located at one end of the supporting component in the running direction, one end of the rain cloth is connected with the supporting component, and the other end of the rain cloth bypasses the rain cloth lifting roller.

The application provides a loading and unloading method, wherein the loading and unloading system is used for loading and unloading, and the loading and unloading method comprises the following steps:

Switching the loading and unloading system into a first state, moving the first fork assembly and the second fork assembly to two sides of a material respectively in the first state, and then moving the first fork assembly and the second fork assembly in opposite directions to fork the material for loading and unloading the material;

Or switching the loading and unloading system into a second state, synchronously moving the first fork assembly and the second fork assembly to one side of the material in the second state, and synchronously moving the first fork assembly and the second fork assembly towards the material to fork the material so as to load and unload the material.

Optionally, the loading and unloading method further comprises:

In the first state, after the materials are taken by the fork, the first fork assembly and/or the second fork assembly are/is moved, so that a first gap is formed between the materials on the first fork assembly and the materials on the second fork assembly, and the first gap is used for preventing the first fork assembly and the second fork assembly from rotating and interfering;

Independently adjusting the materials on the first fork assembly and the materials on the second fork assembly respectively;

Moving the first fork assembly and/or the second fork assembly to enable materials on the first fork assembly and materials on the second fork assembly to be mutually gathered and aligned;

Synchronously moving the first fork assembly and the second fork assembly, and moving the material to a first target position for placement;

or in the first state, after the materials are taken out, the first fork assembly and the second fork assembly rotate by an angle a in the first direction, the first fork assembly moves for L distance along the second direction, the second fork assembly moves for L distance in the opposite direction of the second direction, and the movement process of the first fork assembly and the second fork assembly keeps L=0.5L1 sin a, so that the materials on the first fork assembly and the second fork assembly rotate by an angle a around the centers of the first fork assembly and the second fork assembly, wherein L1 represents the distance between the rotation center of the first fork assembly and the rotation center of the second fork assembly;

Synchronously moving the first fork assembly and the second fork assembly, and moving the material to a second target position for placement;

Or in the second state, after the material is forked, the first fork assembly and/or the second fork assembly is moved, so that a second gap is formed between the material on the first fork assembly and the material on the second fork assembly, and the second gap is used for preventing the first fork assembly and the second fork assembly from rotating and interfering;

The first fork assembly and the second fork assembly rotate by an angle b in a third direction;

the materials on the first fork assembly and the materials on the second fork assembly are gathered, and dislocation is formed between the materials on the first fork assembly and the materials on the second fork assembly;

synchronously moving the first fork assembly and the second fork assembly to enable the material to reach a third target position;

And respectively moving the first fork assembly and the second fork assembly and placing materials so as to eliminate dislocation of the materials on the first fork assembly and the materials on the second fork assembly.

The loading and unloading system and the loading and unloading method provided by the application have the beneficial effects that: compared with the prior art, in the loading and unloading system, the first state and the second state can be compatible and switched between two material loading states through the movement and rotation of the first fork assembly and the second fork assembly, wherein the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged in opposite directions in the first state, the side loading of materials is realized, and in the second state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged side by side and face the same direction, and the tail loading of materials can be realized. Therefore, the loading and unloading system can be compatible with two loading and unloading modes of side loading and tail loading, the problem that the loading and unloading mode of the fork type loading and unloading machine in the prior art is single is solved, and a proper loading and unloading mode can be selected according to specific loading and unloading scenes, so that the loading and unloading system has a wider application range.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an overall schematic of a handling system in accordance with an embodiment of the present application;

FIG. 2 is a schematic view of a loading and unloading system according to an embodiment of the present application;

FIG. 3 is a schematic view of a second state of the handling system according to an embodiment of the present application;

FIG. 4 is a first state handling schematic of a handling system according to an embodiment of the present application;

FIG. 5 is a second state handling schematic of the handling system in an embodiment of the present application;

FIG. 6 is a schematic diagram of a moving mechanism and a rotating mechanism according to an embodiment of the present application;

FIG. 7 is a schematic view of a lifting mechanism according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a cross bar traversing mechanism in an embodiment of the application;

FIG. 9 is a schematic view of an elastic buffer mechanism according to an embodiment of the present application;

FIG. 10 is a schematic view of a support assembly according to an embodiment of the present application;

FIG. 11 is a schematic view of a movement mechanism of a fork assembly according to an embodiment of the present application;

FIG. 12 is a schematic illustration of a rain cloth cover in accordance with an embodiment of the application;

FIG. 13 is a schematic diagram showing fine tuning of materials according to an embodiment of the present application.

Wherein, each reference sign in the figure: the support assembly 1, the support beam 11, the support leg 12, the traveling mechanism 13, the fork assembly 2, the first fork assembly 21, the second fork assembly 22, the moving drive 231, the first gear 232, the first rack 233, the moving rack 234, the main body rack 241, the lifting drive 242, the slewing bearing 251, the rotating drive 252, the fork lever rack 261, the fork lever 262, the fork lever link 263, the fork lever traversing drive 264, the pressing head 271, the pressing head drive 272, the timing belt 273, the tension fixing assembly 274, the elastic buffer mechanism 28, the spring 281, the guide rod 282, the guide rod seat 283, the guide seat 284, the temporary storage conveyor 3, the laser radar 4, the vehicle 5, the rain cloth covering mechanism 6, the rain cloth 61, the rain cloth lifting roller 62, the rain cloth supporting roller 63, the rain cloth holding beam 64, and the material 7.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1 to 5, a loading and unloading system according to an embodiment of the present application will now be described. The loading and unloading system comprises:

A support assembly 1 having a support beam 11;

The fork assembly 2 is arranged on the supporting beam 11, a moving mechanism for enabling the fork assembly 2 to move along the supporting beam is arranged on the fork assembly 2, and a rotating mechanism for rotating the fork assembly 2 in the fork opening direction is arranged on the fork assembly 2;

wherein the plurality of fork assemblies 2 comprises a first fork assembly 21 and a second fork assembly 22, the handling system having a first state and a second state, the movement mechanism and the rotation mechanism being adapted to switch the handling system between the first state and the second state;

In the first state, the fork opening of the first fork assembly 21 and the fork opening of the second fork assembly 22 are arranged in opposite directions, and in the second state, the fork opening of the first fork assembly 21 and the fork opening of the second fork assembly 22 are arranged side by side and the fork openings face the same direction.

The handling system in this embodiment may be used for loading of material 7, unloading of material 7 or moving material 7 from one location to another, for example, loading material 7 onto a vehicle 5 or unloading material 7 from a vehicle 5. The supporting component 1 of the loading and unloading system is mainly used for supporting the fork component 2, so that the fork component can realize loading of materials 7 at a certain height, and the supporting component 1 can be fixed or movable. The fixed support assembly 1 may for example be a fixed support beam 11 in a factory building and the moving support assembly 1 may for example be a moving gantry or the like. In general, the movable support assembly 1 is preferably used for easy handling of the material 7.

The supporting beam 11 in the supporting component 1 is used for installing the fork component 2, the fork component 2 is used for forking materials 7, the specific structure of the fork component 2 can refer to a fork loader, and the fork component 2 is provided with a moving mechanism for enabling the fork component 2 to move along the supporting beam and a rotating mechanism for rotating the fork component 2 in the fork opening direction, so that the movement and rotation of the fork component 2 are realized.

In this embodiment, the fork assembly 2 includes a first fork assembly 21 and a second fork assembly 22, where the first fork assembly 21 and the second fork assembly 22 have moving and rotating functions, so that not only can the position of the material 7 on the fork assembly 2 be adjusted, but also the first state and the second state can be switched. Specifically, as shown in fig. 2 and 4, in the first state, the fork opening of the first fork assembly 21 and the fork opening of the second fork assembly 22 are disposed in opposition, in which state side loading of the material 7 can be achieved, as shown in fig. 3 and 5, and in the second state, the fork opening of the first fork assembly 21 and the fork opening of the second fork assembly 22 are disposed side by side with the fork openings facing in the same direction. The loading and unloading system of the embodiment is compatible with two modes of side loading and tail loading, and can be switched to a proper state according to specific loading and unloading scenes. Taking the example of loading the materials 7 on the vehicle 5, the side loading can simultaneously meet the requirement of loading the pallet materials 7 with different quantities, and the loading can be carried out in the vehicle width direction of 2 torr, 3 torr and 4 torr side by side. The side mounting can also realize the situation that the tail part of the flat car is provided with the material 7, and the material 7 needs to be mounted at any position in front of the car 5; however, in the case of a vehicle with a railing panel, it is generally difficult to carry out side loading, so that the loading and unloading system can be switched to a tail loading state, and the loading requirement of the vehicle with the railing panel can be met. In addition, compared with manual loading and unloading, the loading and unloading system of the embodiment can save manpower, and unmanned and automatic loading processes are realized.

Referring to fig. 6, 10 and 11, in one embodiment of the present application, the moving mechanism includes a moving driving member 231, a first gear 232 and a first rack 233, the first rack 233 is disposed on the support beam 11, the first gear 232 is disposed on the fork assembly 2 and engaged with the first rack 233, and the moving driving member 231 is disposed on the fork assembly 2 and is in driving connection with the first gear 232 for driving the first gear 232 to move along the first rack 233. The moving mechanism is used for moving the fork assembly 2 along the supporting beam 11, wherein the moving driving member 231 may adopt a motor, a hydraulic motor, or the like, the first rack 233 is disposed on the supporting beam 11, the extending direction of the first rack 233 is the moving direction of the fork assembly 2, and the moving driving member 231 drives the first gear 232 to rotate, so that the first gear 232 can roll relative to the first rack 233 meshed with the first gear, and the fork assembly 2 is driven to move along the first rack 233. The interaction of the first gear 232 and the first rack 233 allows for movement of the fork assembly 2 with high accuracy and reliability.

In the embodiment shown in fig. 6, the moving driving member 231 adopts a servo motor, which is connected with a speed reducer to increase torque, the speed reducer is connected with a shaft through a shaft coupling, the shaft is supported by a bearing with a seat, two first gears 232 are respectively arranged at two ends of the shaft, parallel first racks 233 are also paved on the supporting beam 11 and respectively meshed with the two first gears 232, and the two first gears 232 are driven to move on the two first racks 233 by the same power, so that the moving reliability of the fork assembly 2 can be ensured, and the moving synchronism of two sides of the fork assembly 2 can be ensured.

Referring to fig. 6, in one embodiment of the present application, the fork assembly 2 includes a movable frame 234 and a main frame 241, the movable frame 234 is connected to the support beam 11 by a moving mechanism, the rotating mechanism includes a rotation driving member 252 and a pivoting support 251, the pivoting support 251 is connected between the movable frame 234 and the main frame 241, and the rotation driving member 252 is in driving connection with the pivoting support 251 to drive the movable frame 234 and the main frame 241 to rotate relatively.

The main function of the moving frame 234 is to provide a moving mechanism to move the fork assembly 2, and a slider may be disposed at four corners to facilitate movement thereof. The main body frame 241 is mainly used for installing a fork rod related structure so as to realize a fork taking function. A pivoting support 251 is provided between the moving frame 234 and the main body frame 241, thereby achieving relative rotation of the moving frame 234 and the main body frame 241 and reducing resistance to rotation. The rotation driving member 252 is in driving connection with the pivoting support 251 so as to drive the moving frame 234 and the main body frame 241 to relatively rotate, thereby realizing the rotation of the fork assembly 2 in the fork opening direction.

The rotary driving member 252 may be a motor or the like, for example, in one embodiment, the rotary driving member 252 is composed of a servo motor, a speed reducer, and a gear. The rotary driving member 252 may be in driving engagement with a portion of the pivoting support 251 connected to the moving frame 234 or may be in driving engagement with a portion of the pivoting support 251 connected to the main body frame 241. In order to facilitate the transmission of the slewing bearing 251, teeth may be provided on the circumferential side of the slewing bearing 251, and the gears may be engaged with the teeth on the circumferential side to transmit the signals. In addition, other transmission means such as shaft transmission, chain transmission, etc. may be employed.

Referring to fig. 7, in one embodiment of the present application, the fork assembly 2 includes a main body frame 241, a fork frame 261, a fork 262 and a lifting mechanism for lifting the fork 262, wherein the fork 262 is disposed on the fork frame 261, the fork frame 261 is movably matched with the main body frame 241 along the lifting direction of the fork 262, the lifting mechanism includes a lifting driving member 242, and the lifting driving member 242 is connected between the main body frame 241 and the fork frame 261 for driving the fork 262 to lift.

Because the material 7 needs to be lifted during the loading process, although the material 7 can be lifted by the way of integrally lifting the loading and unloading system, the lifting weight of the lifting mechanism is definitely larger, so that the lifting mechanism is arranged on the fork assembly 2 in this embodiment, the fork rod frame 261 and the main body frame 241 are movably matched along the lifting direction of the fork rod 262, and the fork rod frame 261 is lifted by the lifting driving piece 242 to drive the material 7 on the fork rod 262 to be lifted. The lifting driving member 242 may be a cylinder, an oil cylinder, a motor, or the like, as in the embodiment shown in fig. 7, the lifting driving member 242 is a servo cylinder disposed at the top of the main body frame 241, the cylinder body of the servo cylinder can directly penetrate out from the center of the slewing bearing 251, and the motor is disposed at the upper portion of the slewing bearing 251, so that the bottom installation space is saved, and the structure is more compact. Guide rails may be provided at both sides of the main body frame 241, and correspondingly, guide wheels may be provided at both sides of the yoke 261, thereby ensuring the stability and smoothness of the lifting.

Referring to fig. 7, in one embodiment of the present application, the fork assembly 2 includes a pressing member 271 and a pressing driving member 272, wherein the pressing member 271 and the main body frame 241 are movably matched along the pressing direction of the pressing member 271, the pressing member 271 is located above the fork 262, and the pressing driving member 272 is in driving connection with the pressing member 271 to drive the pressing member 271 to move along the pressing direction.

During the movement of the fork assembly 2 to fork the material 7, the material 7 tends to slip or topple over. In this regard, in this embodiment, the fork assembly 2 is provided with a pressing member 271, where the pressing member 271 is located above the fork rod 262, and the pressing member 271 is movably matched with the main body frame 241 along the pressing direction of the pressing member 271, and the pressing member 271 can be driven by the pressing driving member 272 to move along the pressing direction, so that the material 7 is pressed between the pressing member 271 and the fork rod 262, thereby preventing the material 7 from slipping or toppling, and ensuring the stability of the material 7. Because the material 7 is stable, the loader can realize high-speed movement, and the material 7 can be stacked first and then loaded, and the loading beat is fast.

The jacking member 271 may be generally in a plate-like structure, or may be in a bar-like or fence-like structure, the jacking driving member 272 may be a driving member such as a motor, a cylinder, or an oil cylinder, and in the embodiment shown in fig. 7, the jacking driving member 272 employs a servo motor, a speed reducer, a timing belt 273, or the like, the jacking member 271 is fixed to the timing belt 273 by a tensioning fixing member, and the tensioning fixing member may also tension the timing belt 273 by an adjusting screw. When the servo motor rotates, the pressing member 271 can be driven to rise and fall by the speed reducer and the timing belt 273.

Referring to fig. 8, in one embodiment of the present application, the pallet fork assembly 2 includes a fork bar traversing drive 264 for driving the fork bar 262 to traverse, the fork bar 262 and the fork frame 261 are movably coupled in a fork bar 262 traversing direction, the fork bar 262 traversing direction being perpendicular to the fork opening direction and perpendicular to the lifting direction, the fork bar traversing drive 264 being in driving connection with the fork bar 262 for driving the fork bar 262 to move in the fork bar traversing direction.

The fork 262 and the fork 261 are movably engaged in a direction along which the fork 262 moves, and the fork movement driving member 264 can drive the fork 262 to move laterally with respect to the fork 261, the moving direction being a direction on both sides of the fork, i.e., a direction perpendicular to the fork direction and perpendicular to the lifting direction. By means of the lateral movement of the fork bars 262, fine adjustment of the position of the fork bars 262 can be achieved, which not only allows for a more accurate material 7 to be extracted, but also allows for adjustment of the fork bar 262 spacing between the two fork assemblies 2. The fork bar traversing drive 264 may employ a motor, cylinder, ram, etc., and in the embodiment shown in fig. 8, the fork bar traversing drive 264 employs an electric cylinder to linearly drive the fork bar. For the condition that the fork assembly 2 is provided with a plurality of fork rods 262, a fork rod connecting rod 263 can be arranged to connect the plurality of fork rods 262 together so as to facilitate the whole movement, and 4) meanwhile, different fork rod connecting rods 263 can be replaced according to different sizes of the pallets 7 for forked materials, so that the adaptability is improved;

Referring to fig. 8, in one embodiment of the present application, a spring dampening mechanism 28 is provided between the fork arm cross-drive 264 and the fork arm 262 to provide a spring dampening of the fork arm 262 laterally. In the tail loading state, the fork opening of the fork assembly 2 faces outwards, so that the tightly fitting of the forked material 7 and the piled material 7 can be easily realized, but in the side loading state, the fork opening of the fork assembly 2 is arranged relatively, and the compaction force of the piling is not easy to control. If the force is too large, the material 7 is easy to slip or damage, and if the force is too small, the material 7 is easy to stack, the stacking is not tight enough, the bonding cannot be performed, the occupied space is large, and the dumping is easy. In this embodiment, after the elastic buffer mechanism 28 is disposed between the fork rod lateral movement driving member 264 and the fork rod 262, the elastic buffer mechanism is buffered by the spring 281 buffer device, so that the extrusion force is controllable, and therefore, under the condition that the material 7 does not slide or is damaged, the material 7 and the material 7 are guaranteed to be well attached, the loading space is saved, the dumping risk in the transportation process of the material 7 is reduced, and the transportation safety is improved.

Referring to fig. 9, in an embodiment of the application, the buffering mechanism includes a spring 281, a guide rod 282, a guide rod seat 283 and a guide seat 284, the guide rod 282 is connected to the guide rod seat 283, the guide seat 284 is provided with a guide hole, the guide rod 282 is inserted into the guide hole, the spring 281 is sleeved on the guide rod 282 and is located between the guide rod seat 283 and the guide seat 284, the guide rod seat 283 is connected to the fork rod lateral movement driving member 264, and the guide seat 284 is connected to the fork rod 262. The spring 281 and the elastic pad may be used for the buffering device, in this embodiment, the spring 281 may play a role in controlling the extrusion force and buffering, and the guide rod 282 and the guide seat 284 may play a role in guiding, the guide rod seat 283 is used for fixing the guide rod 282, and may be connected to the fork rod lateral movement driving member 264 by providing a lug plate or the like, and the guide seat 284 may be directly connected to the fork rod 262.

Referring to fig. 10, in an embodiment of the present application, the loading and unloading system further includes a walking mechanism 13 for driving the support assembly 1 to walk, the walking mechanism 13 includes a walking driving member, a walking wheel and a walking track, the walking track is disposed along the walking direction of the support assembly 1, the walking wheel is disposed at the bottom of the support assembly 1, and the walking wheel is in rolling fit with the walking track, and the walking driving member is disposed on the support assembly 1 and is in transmission connection with the walking wheel for driving the walking wheel to move along the walking track.

Although the support assembly 1 may be stationary, the movable support assembly 1 is certainly more advantageous for handling of the material 7. In this embodiment, the supporting component 1 is provided with a travelling mechanism 13, and the travelling wheel is driven to move on the travelling rail by a travelling driving piece in the travelling mechanism 13, so that the travelling of the supporting component 1 can be realized, and the fork component 2 thereon and the material 7 on the fork component 2 are driven to move. In the embodiment shown in fig. 10, the support assembly 1 is provided with legs 12 on both sides for connecting the support beam 11 and the running gear 13, the running gear 13 being located at the bottom of the legs 12, the support beam 11 being located at the top of the legs 12.

Referring to fig. 12, in one embodiment of the present application, the loading and unloading system further includes a traveling mechanism 13 for driving the support assembly 1 to travel and a rain cloth covering mechanism 6 for covering the cargo vehicle 5 with the rain cloth 61, wherein the rain cloth covering assembly includes the rain cloth 61 and the rain cloth lifting roller 62, the rain cloth lifting roller 62 is located at one end of the support assembly 1 in the traveling direction, one end of the rain cloth 61 is connected to the support assembly 1, and the other end bypasses the rain cloth lifting roller 62.

In the prior art, after the material 7 is loaded, the vehicle 5 is covered with the rain cloth 61 manually, so that the vehicle is labor-saving and low in safety. In the present embodiment, one end of the rain cloth 61 is connected to the support member 1 and the other end bypasses the rain cloth lifting roller 62 by utilizing the function of walking of the support member 1 itself. When the material 7 of the vehicle 5 is loaded, the rain cloth 61 is prevented from being hung on parts such as a wiper of the vehicle 5 by the enough height lifted by the rain cloth lifting roller 62, then the rain cloth 61 is driven to move from one end to the other end of the material 7 on the vehicle 5 by the running of the supporting component 1, so that the rain cloth 61 is covered on the material 7 of the vehicle 5, and finally the rain cloth 61 is fixed on the vehicle 5, so that the high-efficiency safety covering of the rain cloth 61 is realized. The rain cloth lifting roller 62 mainly plays a role in lifting the rain cloth 61 and guiding, and the rain cloth lifting roller 62 can be preferably lowered to the ground or at a height enough to manually bypass the rain cloth 61 so as to facilitate threading the rain cloth 61 over the rain cloth lifting roller 62. In addition to the use of the rain cloth lifting roller 62, one or more rain cloth supporting rollers 63 may be provided to prevent the rain cloth 61 from falling down and being hooked to the truck head or the like. The rain cloth 61 can be fixed by the rain cloth clamping beam 64, and then is connected to the walkable support assembly 1 by means of an electric hoist and the like, and the rain cloth 61 can be tensioned by the electric hoist. The connection position of the rain cloth 61 to the support assembly 1 needs to have a sufficient height, and is usually connected to the support beam 11 of the support assembly 1.

Based on the loading and unloading system, the application also provides a loading and unloading method, which adopts the loading and unloading system to load and unload, and comprises the following steps:

Switching the loading and unloading system into a first state, in the first state, respectively moving the first fork assembly 21 and the second fork assembly 22 to two sides of the material 7, and then moving the first fork assembly 21 and the second fork assembly 22 in opposite directions to fork the material 7 so as to load and unload the material 7;

or the loading and unloading system is switched to a second state, in the second state, the first fork assembly 21 and the second fork assembly 22 are synchronously moved to one side of the material 7, and then the first fork assembly 21 and the second fork assembly 22 are synchronously moved towards the material 7 to fork the material 7, so that the material 7 is loaded and unloaded.

The handling system of this embodiment has two states, which can be selected according to the requirements, the first state: side-mounted or second state: and (5) tail packaging. If the side loading mode is adopted, the loading and unloading system needs to be switched to the first state, that is, the state that the fork opening of the first fork assembly 21 and the fork opening of the second fork assembly 22 are opposite, then the first fork assembly 21 and the second fork assembly 22 can be respectively moved to two sides of the material 7, and then the first fork assembly 21 and the second fork assembly 22 are moved in opposite directions to fork the material 7, so that the loading and unloading of the material 7 can be performed. If the tail loading mode is adopted, the loading and unloading system needs to be switched to the second state, that is, the state that the fork openings of the first fork assembly 21 and the second fork assembly 22 are arranged side by side and the fork openings face the same direction, in which the specific switching process is usually to rotate the first fork assembly 21 and the second fork assembly 22 first, so that the fork openings of the first fork assembly 21 and the second fork assembly 22 are all forward, and then move the first fork assembly 21 and the second fork assembly 22 towards the middle of the supporting beam 11, so as to switch to the second state. After the first and second fork assemblies 21 and 22 are switched to the second state, the first and second fork assemblies 21 and 22 are synchronously moved to one side of the material 7, and then the first and second fork assemblies 21 and 22 are synchronously moved towards the material 7 to fork the material 7, so that the material 7 is loaded and unloaded. After the material 7 is forked by the first fork assembly 21 and the second fork assembly 22, the material 7 can be moved to a target position, the material 7 is put down, and stacking of the material 7 is completed. Since the first fork assembly 21 and the second fork assembly 22 can move independently, loading of materials 7 of different widths can be achieved, whether in a side loading state or in a tail loading state. When the material 7 is forked, the upper and lower layers of the material 7 can be forked for loading, and only one layer of the material 7 can be forked for loading. The handling system of this embodiment may be equipped with a temporary storage conveyor 3 for transporting material 7 to a location convenient for fork assembly to fork and for temporary storage.

In one embodiment of the application, the handling method further comprises:

In the first state, after the materials are taken by the fork, the first fork assembly and/or the second fork assembly are/is moved, so that a first gap is formed between the materials on the first fork assembly and the materials on the second fork assembly, and the first gap is used for preventing the first fork assembly and the second fork assembly from rotating and interfering;

Independently adjusting the materials on the first fork assembly and the materials on the second fork assembly respectively;

Moving the first fork assembly and/or the second fork assembly to enable materials on the first fork assembly and materials on the second fork assembly to be mutually gathered and aligned;

Synchronously moving the first fork assembly and the second fork assembly, and moving the material to a first target position for placement;

Or in the first state, after the material 7 is forked, the first fork assembly 21 and the second fork assembly 22 are rotated by an angle a in the first direction, the first fork assembly 21 moves by an L distance in the second direction, the second fork assembly 22 moves by an L distance in the opposite direction of the second direction, and the movement process of the first fork assembly 21 and the second fork assembly 22 keeps l=0.5l1×sin a, so that the material 7 on the first fork assembly 21 and the second fork assembly 22 rotates by an angle a around the center A1 thereof, wherein L1 represents the distance between the rotation center A2 of the first fork assembly 21 and the rotation center A3 of the second fork assembly 22;

synchronously moving the first fork assembly 21 and the second fork assembly 22 to move the material 7 to a second target position for placement;

Or in the second state, after the material 7 is forked, the first fork assembly 21 and/or the second fork assembly 22 are/is moved, so that a second gap is formed between the material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22, and the second gap is used for preventing the first fork assembly 21 and the second fork assembly 22 from rotating and interfering;

the first fork assembly 21 and the second fork assembly 22 are rotated by an angle b in the third direction;

the material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22 are gathered, and dislocation is formed between the material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22;

synchronously moving the first fork assembly 21 and the second fork assembly 22 to bring the material 7 to a third target position;

The first fork assembly 21 and the second fork assembly 22 are moved and the material 7 is placed, respectively, to eliminate misalignment of the material 7 on the first fork assembly 21 and the material 7 on the second fork assembly 22.

The fine adjustment of the direction of the material 7 is mainly used in the embodiment, and when the direction of the material 7 which is forked and the stacking direction of the target position cannot be accurately matched, fine adjustment can be performed through the mode of the embodiment. For example, when the material 7 is loaded on the vehicle 5, the laser radar 4 arranged in the loading and unloading system can scan the position of the vehicle body, the laser radar 4 is arranged on the cradle head support, the cradle head support can swing by a certain angle, the laser radar 4 can scan the space of the vehicle body through swinging, and the laser radar 4 calculates the position of the vehicle body and the deflection angle of the material 7 according to the coordinates after scanning the coordinates of the corner point of the vehicle 5. According to the required deviation correcting angle calculated by the system, the embodiment can synchronously perform forward and backward movement and rotation movement through the fork assemblies at two sides, and the combination of the movement and rotation movement of the fork rod 262 can enable the fork rod 262 and the material 7 to realize the direction correction of the material 7 under the condition of no relative movement.

For the side loading state, if the materials on the first fork assembly 21 and the second fork assembly 22 can be separated, the materials are respectively and independently carried by the first fork assembly 21 and the second fork assembly 22, for example, 2 torr of materials are shared on the first fork assembly 21 and the second fork assembly 22, the first fork assembly 21 and the second fork assembly 22 can respectively hold up 1 torr of materials, and after the independent first fork assembly 21 and the second fork assembly 22 are respectively adjusted, the goods on the first fork assembly 21 and the second fork assembly 22 are folded and transported to the target position. The adjustment of the first fork assembly 21 and the second fork assembly 22 typically allows each to independently rotate a certain angle and move a certain distance along with the material to adjust the material to match the stacking requirements of the target location. It should be noted that before the first fork assembly 21 and the second fork assembly 22 are respectively adjusted, the first fork assembly 21 and/or the second fork assembly 22 need to be moved so that the material on the first fork assembly 21 and the material on the second fork assembly 22 form a first gap, and the first gap is used for preventing the rotation of the first fork assembly 21 and the second fork assembly 22 from interfering.

If the material on the first fork assembly and the material on the second fork assembly cannot be separated, for example, a total of 3 torr of material on the first fork assembly and the second fork assembly. As shown in fig. 13, assuming that the material 7 needs to be rotated counterclockwise by an angle a about its center A1, the first fork assembly 21 needs to be rotated counterclockwise by an angle a and then moved backward by l=0.5l1 sin a; the second fork assembly 22 needs to rotate counterclockwise by an angle a, and then move forward l0=0.5l1×sin a, L1 represents the distance between the rotation center A2 of the first fork assembly 21 and the rotation center A3 of the second fork assembly 22; the fork components on two sides synchronously control movement, and the rotation angle a and the forward and backward movement distance L always meet the relation of L=0.5L1sin a in the movement process, so that the reversing of the material 7 can be completed.

After the material 7 is changed, the system calculates the placement position of the material 7 along the left and right directions of the vehicle body according to the position of the scanned vehicle body, and then the fork assemblies on two sides fork the material 7 to synchronously move left and right to the required position. After the direction and the left and right positions of the material 7 are adjusted, the system calculates the front and rear positions of the material 7 on the vehicle 5 according to the position of the scanned vehicle body, and then the loading machine moves to the corresponding positions and places the material 7 at the target position; the fork assembly descends to place the material 7 in the corresponding position of the vehicle 5, in order to enable the rear material 7 to be tightly attached to the stacked material 7, after the material 7 descends to be close to a plane to be placed, the fork assembly moves forwards by a certain distance through the moving mechanism inside the fork assembly, the material 7 to be placed and the material 7 to be placed form extrusion, gaps among the materials 7 are reduced, and the fork assembly is buffered by the spring 281 buffer device, so that the extrusion force is controllable. After the material 7 is tightly attached, the fork rod 262 descends and then moves out, so that the material 7 is stacked.

For the side-mounted state, according to the fine adjustment requirement, the fork assemblies on two sides respectively rotate for a certain angle to adjust the materials 7 to be parallel to the vehicle body, a certain gap is pulled between the materials 7 on two sides before rotation, interference in the rotation process is avoided, and after the direction adjustment is finished, the first fork assembly 21 and the second fork assembly 22 move left and right to gather the materials 7; after the materials 7 on the two sides are adjusted in the direction and gathered, the materials 7 have certain dislocation in front and back at the moment, the system calculates the front and back positions required by the materials 7 on the vehicle 5 according to the position of the scanned vehicle body, and then the loading machine moves to the corresponding positions and places the materials 7 at the target positions; then the loading machine integrally moves back the material 7 by a dislocation distance, the fork rod 262 on one side of the material 7 at the back independently lifts the material 7 to a certain height, and the loading machine independently places the material 7 at the back forwards, so that the dislocation of the materials 7 at the two sides is eliminated, and the alignment is realized; after the direction and the left and right positions of the material 7 are adjusted, the system calculates the front and rear positions of the material 7 on the vehicle 5 according to the scanned vehicle body positions, and then the loader moves to the corresponding positions and places the material 7 at the target positions.

Through the mode, the fine adjustment of the material 7 can be realized no matter in a side loading state or a tail loading state, so that the high matching of the positions of the material 7 and the vehicle 5 is realized, and the material 7 can be accurately stacked on the vehicle 5.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (12)

1. A handling system, the handling system comprising:

a support assembly having a support beam;

The fork assembly is arranged on the supporting beam, a moving mechanism for enabling the fork assembly to move along the supporting beam is arranged on the fork assembly, and a rotating mechanism for rotating the fork assembly in the fork opening direction is arranged on the fork assembly;

Wherein the plurality of fork assemblies includes a first fork assembly and a second fork assembly, the handling system having a first state and a second state, the movement mechanism and the rotation mechanism being configured to switch the handling system between the first state and the second state;

in the first state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged in opposite directions, and in the second state, the fork opening of the first fork assembly and the fork opening of the second fork assembly are arranged side by side and face to the same direction.

2. The handling system of claim 1, wherein the movement mechanism comprises a movement drive, a first gear and a first rack, the first rack being disposed on the support beam, the first gear being disposed on the fork assembly and engaged with the first rack, the movement drive being disposed on the fork assembly and in driving connection with the first gear for driving the first gear to move along the first rack.

3. The handling system of claim 1, wherein the fork assembly includes a movable carriage and a main body carriage, the movable carriage being coupled to the support beam by the movement mechanism, the rotation mechanism including a rotary drive and a slewing bearing, the slewing bearing being coupled between the movable carriage and the main body carriage, the rotary drive being drivingly coupled to the slewing bearing to drive the movable carriage and the main body carriage for relative rotation.

4. A handling system according to any of claims 1-3, wherein the fork assembly comprises a main body frame, a fork carriage, a fork bar and a lifting mechanism for lifting the fork bar, the fork bar being disposed on the fork carriage, the fork carriage being in movable engagement with the main body frame in a lifting direction of the fork bar, the lifting mechanism comprising a lifting drive connected between the main body frame and the fork carriage for driving the fork bar up and down.

5. The handling system of claim 4, wherein the fork assembly includes a hold down member and a hold down drive member, the hold down member being movably coupled to the body frame in a hold down direction of the hold down member, and the hold down member being positioned above the fork arm, the hold down drive member being drivingly coupled to the hold down member for driving movement of the hold down member in the hold down direction.

6. The handling system of claim 4, wherein the fork assembly includes a fork carriage traversing drive for driving the traversing of the fork carriage, the fork carriage and the fork carriage being in movable engagement along a fork carriage traversing direction, the fork carriage traversing direction being perpendicular to the fork opening direction and perpendicular to the lifting direction, the fork carriage traversing drive being drivingly coupled to the fork carriage for driving the movement of the fork carriage along the fork carriage traversing direction.

7. The handling system of claim 6, wherein a spring dampening mechanism is disposed between the fork arm traversing drive and the fork arm to provide a spring dampening of the fork arm laterally.

8. The handling system of claim 7, wherein the buffer mechanism comprises a spring, a guide rod seat and a guide seat, the guide rod is connected to the guide rod seat, the guide seat is provided with a guide hole, the guide rod is inserted into the guide hole, the spring is sleeved on the guide rod and is positioned between the guide rod seat and the guide seat, the guide rod seat is connected to the fork rod traversing driving piece, and the guide seat is connected to the fork rod.

9. The handling system of claim 1, further comprising a travel mechanism for driving the support assembly to travel, the travel mechanism comprising a travel drive, a travel wheel, and a travel track, the travel track being disposed along a travel direction of the support assembly, the travel wheel being disposed at a bottom of the support assembly and the travel wheel being in rolling engagement with the travel track, the travel drive being disposed on the support assembly and in driving engagement with the travel wheel for driving the travel wheel to move along the travel track.

10. The handling system of claim 1, further comprising a running mechanism for driving the support assembly to run and a rain cloth covering mechanism for covering a cargo vehicle with a rain cloth, the rain cloth covering assembly comprising a rain cloth and a rain cloth lifting roller, the rain cloth lifting roller being located at one end of the support assembly in the running direction, one end of the rain cloth being connected to the support assembly, and the other end of the rain cloth being wound around the rain cloth lifting roller.

11. A loading and unloading method, characterized in that the loading and unloading method uses the loading and unloading system according to any one of claims 1-10 for loading and unloading, the loading and unloading method comprising:

Switching the loading and unloading system into a first state, moving the first fork assembly and the second fork assembly to two sides of a material respectively in the first state, and then moving the first fork assembly and the second fork assembly in opposite directions to fork the material to load and unload the material;

or switching the loading and unloading system into a second state, synchronously moving the first fork assembly and the second fork assembly to one side of the material in the second state, and synchronously moving the first fork assembly and the second fork assembly towards the material to fork and take the material, so as to load and unload the material.

12. The handling method of claim 11, wherein the handling method further comprises:

In the first state, after the materials are taken by the fork, the first fork assembly and/or the second fork assembly are/is moved, so that a first gap is formed between the materials on the first fork assembly and the materials on the second fork assembly, and the first gap is used for preventing the first fork assembly and the second fork assembly from rotating and interfering;

Independently adjusting the materials on the first fork assembly and the materials on the second fork assembly respectively;

Moving the first fork assembly and/or the second fork assembly to enable materials on the first fork assembly and materials on the second fork assembly to be mutually gathered and aligned;

Synchronously moving the first fork assembly and the second fork assembly, and moving the material to a first target position for placement;

Or in the first state, after the material is taken by the fork, the first fork assembly and the second fork assembly are rotated by an angle a in a first direction, the first fork assembly moves by an L distance in a second direction, the second fork assembly moves by an L distance in a direction opposite to the second direction, and the movement process of the first fork assembly and the second fork assembly keeps L=0.5L1sin a, so that the material on the first fork assembly and the second fork assembly rotates by an angle a around the centers of the first fork assembly and the second fork assembly, wherein L1 represents the distance between the rotation center of the first fork assembly and the rotation center of the second fork assembly;

Synchronously moving the first fork assembly and the second fork assembly, and moving the material to a second target position for placement;

Or in a second state, after the materials are taken, moving the first fork assembly and/or the second fork assembly to enable the materials on the first fork assembly and the materials on the second fork assembly to form a second gap, wherein the second gap is used for preventing the first fork assembly and the second fork assembly from rotating and interfering;

The first fork assembly and the second fork assembly rotate by an angle b towards a third direction;

the materials on the first fork assembly and the materials on the second fork assembly are gathered, and dislocation is formed between the materials on the first fork assembly and the materials on the second fork assembly;

synchronously moving the first fork assembly and the second fork assembly to enable the material to reach a third target position;

And respectively moving the first fork assembly and the second fork assembly and placing materials so as to eliminate dislocation of the materials on the first fork assembly and the materials on the second fork assembly.