CN118790924B

CN118790924B - A height-adjustable self-propelled loading and unloading device and loading and unloading method thereof

Info

Publication number: CN118790924B
Application number: CN202411273953.5A
Authority: CN
Inventors: 陆广敏
Original assignee: Suzhou Rongshiji Automation Equipment Co ltd
Current assignee: Suzhou Hengling Innovation Technology Co.,Ltd.
Priority date: 2024-09-12
Filing date: 2024-09-12
Publication date: 2025-02-07
Anticipated expiration: 2044-09-12
Also published as: CN118790924A

Abstract

The present invention discloses a height-adjustable self-propelled loading and unloading device and a loading and unloading method thereof. The device includes a frame, a main roller platform, a telescopic suction cup unit, an auxiliary roller platform, and a vertical displacement unit; the telescopic suction cup unit includes a telescopic assembly and a suction cup assembly; the vertical displacement unit is located on the frame; the main roller platform and the telescopic suction cup unit are located on the same side of the vertical displacement unit; the auxiliary roller platform is installed on the frame through a lifting mechanism; the main roller platform and the auxiliary roller platform can form a conveyor line. When unloading, the telescopic assembly pushes the suction cup assembly to absorb the goods, pulls them to the main roller platform, and transports them to the auxiliary roller platform; when loading, the goods are transported from the auxiliary roller platform to the main roller platform, and the telescopic assembly pushes the suction cup assembly to contact the goods and pushes them to the loading platform. The present invention occupies a small space and has high flexibility, especially being able to load or unload a whole row of multiple goods at the same time, and each platform and unit operates independently, which improves the loading and unloading efficiency and ensures the safety during loading and unloading.

Description

Height-adjustable self-propelled loading and unloading device and loading and unloading method thereof

Technical Field

The invention belongs to the technical field of logistics transportation, relates to a loading and unloading device, and particularly relates to a height-adjustable self-propelled loading and unloading device and a loading and unloading method thereof.

Background

The mechanical loading and unloading can not only reduce the manual labor of people and human resources, but also effectively improve the working efficiency.

In recent years, mechanical handling devices have been popularized to some extent. Patent CN203112153U discloses a pile up neatly machinery hand, including base, frame, arm mechanism, tongs and control tongs action's guiding mechanism, its working range is less, has the work dead angle, and the grabbing ability is lower. Patent CN206126296U discloses an automatic grabbing and conveying device for packages, and the automatic grabbing and conveying device comprises a universal conveying belt, wherein an automatic grabbing manipulator is arranged on one side of the universal conveying belt, can rotate and move at will, and can also realize multiple turning conveying. Patent CN206126297U discloses a rotary type high-speed handling manipulator, including the lead screw of vertical setting, the outside cover of lead screw is equipped with the layer board, and the layer board can follow the lead screw up-and-down motion, and the layer board top rotates to be connected with the transport arm, and the transport arm rotates certain angle and places the goods on the conveyer belt. The device has the advantages that the existing device can not load and unload a plurality of cargoes in the whole row at the same time, the loading and unloading efficiency is low, the occupied area is large, and the convenience and the mobility are poor.

Therefore, it is necessary to develop a new loading and unloading device, which can realize the simultaneous unloading of a plurality of cargoes in rows, can realize the loading of a plurality of cargoes in rows, and is suitable for the cargoes with different heights.

Disclosure of Invention

In view of the above problems, the present invention aims to provide a height-adjustable self-propelled loading and unloading device and a loading and unloading method thereof, which have small occupied space and high flexibility, and particularly can load or unload a plurality of cargoes in an entire row at the same time, each platform and each unit independently run, and loading and unloading efficiency is improved.

The invention adopts the following technical scheme:

The height-adjustable self-propelled loading and unloading device comprises a frame, a main roller platform, a telescopic sucker unit, an auxiliary roller platform and a vertical displacement unit, wherein the telescopic sucker unit comprises a telescopic component and a sucker component arranged on the telescopic component, the vertical displacement unit is arranged on the frame, the main roller platform and the telescopic component are respectively arranged on the vertical displacement unit, the main roller platform is arranged below the telescopic sucker unit, the main roller platform and the telescopic sucker unit are arranged on the same side of the vertical displacement unit, the auxiliary roller platform is arranged on the frame through a lifting mechanism, and the main roller platform and the auxiliary roller platform can form a conveying line.

In the invention, a main roller platform and an auxiliary roller platform form a conveying line to form continuous conveying of the main roller platform and the auxiliary roller platform, and goods are conveyed from the main roller platform to the auxiliary roller platform or from the auxiliary roller platform to the main roller platform. The vertical displacement unit is used for driving the main roller platform and the telescopic sucker unit to displace up and down so as to be suitable for loading and unloading cargoes with different heights, the telescopic sucker unit is used for adsorbing and pushing cargoes and has loading and unloading functions, the lifting mechanism is used for driving the auxiliary roller platform to displace up and down and form a conveying line in cooperation with the main roller platform, the main roller platform and the auxiliary roller platform are mutually independent, and loading and unloading cargoes and conveying cargoes are not mutually influenced so as to improve conveying efficiency.

In the invention, the telescopic component comprises a driving device, and the sucker component can be directly arranged on the driving device or can be arranged on the driving device through a transmission device. Preferably, the sucker assembly is arranged on the driving device through transmission equipment, the driving device adopts a rotating motor, the transmission equipment adopts a speed reducer, the speed reducer comprises a rocker arm of a conventional component, the speed reducer is connected with the rotating motor, the sucker assembly is arranged on the rocker arm of the speed reducer, and the speed reducer is driven to work through the rotating motor, so that the front-back displacement of the sucker assembly is realized, and the working stability of the device is improved.

Preferably, the vertical displacement unit comprises a vertical displacement driving device, and the main roller platform and the telescopic component are arranged on different vertical displacement driving devices. The vertical displacement driving equipment is used for driving the main roller platform and the telescopic sucker unit to move up and down, the main roller platform and the telescopic assembly are arranged on different vertical displacement driving equipment, the main roller platform and the telescopic sucker unit are controlled to move up and down respectively, the main roller platform and the telescopic sucker unit are independent from each other, the main roller platform and the telescopic sucker unit are not affected by each other in actual working, and the loading and unloading efficiency is improved. Main roller platform, flexible subassembly can direct mount on vertical displacement actuating device, also can install on the moving part through conventional connecting piece, the moving part is installed on vertical displacement actuating device, for example set up the fixed column in the frame, main roller platform, flexible subassembly locates in the moving part slip stand through the connecting piece slider, in the fixed column was located to the slip stand, the fixed column is hollow structure, the slip stand is connected with vertical displacement actuating device's drive end, the slip stand top sets up the pulley, vertical displacement actuating device is last to set up the chain, the chain is walked around the pulley and is connected with the slider, vertical displacement actuating device's drive end drive slip stand is displacement in the fixed column, thereby drive the chain displacement of being connected with the slip stand, and then drive the slider displacement of being connected with the chain, realize the displacement of main roller platform, flexible sucking disc unit.

Preferably, the upper part of the sucker component is in sliding connection with the telescopic component, and the lower part of the sucker component is fixedly connected with the telescopic component. The sucking disc subassembly includes a plurality of sucking discs, and after the sucking disc adsorbed the goods, vertical displacement unit drove flexible sucking disc unit and lifts, and the sucking disc subassembly is certain angle slope to can reduce the area of contact of goods and lower floor's goods and main roller platform at sucking disc absorption pulling goods in-process, the flexible subassembly of being convenient for moves the goods to main roller platform on.

The main roller platform and the auxiliary roller platform are positioned at two sides of the vertical displacement unit, the main roller platform comprises a transverse main roller group and a longitudinal main roller group, the auxiliary roller platform comprises a transverse auxiliary roller group and a longitudinal auxiliary roller group, the longitudinal main roller group and the longitudinal auxiliary roller group can form a conveying line, the rack is provided with a goods access platform, and the goods access platform and the auxiliary roller platform can form the conveying line. In practical application, the goods access platform can be a roller set or a conveyor belt. The main roller platform, the auxiliary roller platform are located vertical displacement unit both sides, and main roller platform, auxiliary roller platform, goods go in and out the platform and set gradually, and vertical main roller group aligns with vertical auxiliary roller group, and vertical auxiliary roller group aligns with goods go in and out the platform, forms continuous transfer chain, and horizontal main roller group drives goods lateral displacement with horizontal auxiliary roller group, and vertical main roller group drives goods longitudinal displacement with vertical auxiliary roller group.

Preferably, the transverse main roller group comprises two or more transverse main driving rollers, and the transverse auxiliary roller group comprises two or more transverse auxiliary driving rollers. The rotation directions of the transverse main driving rollers can be consistent, or the rotation directions of part of the transverse main driving rollers are opposite to the rotation directions of the rest of the transverse main driving rollers. When the rotation direction of part of the transverse main driving rollers is opposite to the rotation direction of the other transverse main driving rollers, the rotation direction of part of the transverse auxiliary driving rollers is opposite to the rotation direction of the other transverse auxiliary driving rollers, and the goods on the platform are conveyed in opposite directions, namely two ends. Preferably, the rotation direction of part of the transverse main driving rollers is opposite to the rotation direction of the rest of the transverse main driving rollers, the rotation direction of part of the transverse auxiliary driving rollers is opposite to the rotation direction of the rest of the transverse auxiliary driving rollers, and goods on the platform are conveyed in opposite directions, namely two ends, so that conveying efficiency is improved.

Preferably, the main roller platform further comprises a front roller group, and the conveying direction of the front roller group is consistent with the telescopic direction of the telescopic assembly. The front roller group is arranged at the front end of the main roller platform, so that the telescopic sucking disc unit can conveniently pull adsorbed cargoes to the main roller platform or push the cargoes to the cargo loading platform.

Preferably, the auxiliary roller platform is provided with a controllable limiting piece. Further preferably, the number of the controllable limiting parts is 2-10, still more preferably, the number of the controllable limiting parts is 2-5, still more preferably, the number of the controllable limiting parts is 3-4. The controllable limiting piece is located in the middle area of the auxiliary roller platform, if the rotation direction of part of the transverse main driving rollers is opposite to the rotation direction of the other transverse main driving rollers, correspondingly, the rotation direction of part of the transverse auxiliary driving rollers is opposite to the rotation direction of the other transverse auxiliary driving rollers, and goods can be conveyed to the auxiliary roller platform from two ends of the main roller platform or conveyed to the main roller platform from two ends of the auxiliary roller platform. For example, the controllable limiting pieces are 3, are located at the middle part of the auxiliary roller platform and lean against left, right and rear positions of the middle part respectively, when goods are conveyed onto the auxiliary roller platform from the two ends of the main roller platform, the controllable limiting pieces at the left part are started, the goods at the right end are conveyed, the controllable limiting pieces at the left part are closed, the controllable limiting pieces at the right part are started, the goods at the left end are conveyed, the controllable limiting pieces at the right part are used for guaranteeing conveying order, and the disorder of the goods conveying order on the auxiliary roller platform is avoided, so that the normal work of the device is influenced.

As common knowledge, the main roller platform and the auxiliary roller platform comprise frames, and the roller groups of each platform are respectively arranged in the corresponding frames. If the goods access platform is a roller set, the goods access platform also comprises a frame, and the roller set is arranged in the frame.

Preferably, the height-adjustable self-propelled handling device further comprises one or two of a walking chassis unit and a traction driving unit. The walking chassis unit is arranged on the frame and comprises walking wheels, the walking wheels are arranged on the frame in a lifting manner, at least one of the walking wheels is a driving walking wheel, the walking chassis unit further comprises a walking chassis frame and connecting rod driving equipment, the walking chassis frame is arranged on the frame through a connecting rod structure, the connecting rod driving equipment is connected with the connecting rod structure, and the walking wheels are arranged on the walking chassis frame. The traction driving unit comprises a traction wheel and a jacking assembly, one end of the jacking assembly is connected with the frame, a support is arranged at the other end of the jacking assembly, the traction wheel is arranged on the support, the jacking assembly comprises a handle and jacking equipment controlled by the handle, one end of the jacking equipment is connected with the frame, and the support is arranged at the other end of the jacking equipment.

In the invention, the driving travelling wheel is arranged on the travelling chassis frame, one end close to the traction driving unit is preferably connected with a rigid shaft of the travelling chassis frame, namely, the driving travelling wheel can not turn, and the end far away from the traction driving unit on the travelling chassis frame is a driven travelling wheel. The jacking equipment comprises a spring and an oil cylinder, one end of the spring is connected with the frame, the other end is connected with the bracket, one end of the oil cylinder is rotationally connected with the frame, and the other end is connected with the bracket. The traction driving unit is used for manually dragging the device to a loading and unloading point, in a traction stage, the driven travelling wheel is in contact with the ground, the driven travelling wheel is connected with the traction wheel through a rigid shaft, the device cannot be in contact with the ground when in steering, the handle is pressed, the oil cylinder drives the traction wheel to move downwards vertically downwards, the tension of the spring is overcome, the driven travelling wheel is separated from the ground, only the traction wheel is in contact with the driven travelling wheel, the device is in an inclined state, an operator controls the handle, the steering of the traction wheel is controlled, the device is moved to the loading and unloading point, the device is opposite to goods, the oil pressure of the oil cylinder is removed, the traction wheel moves vertically upwards under the action of the spring, the traction wheel is separated from the ground, the driven travelling wheel and the driven travelling wheel are in contact with the ground, and the operator sets the device to enter an autonomous working stage. The driving travelling wheel adopts a rigid shaft connection mode, so that the driving travelling wheel does not have a steering function, the device is ensured to keep straight running in the running process of the autonomous working stage, the deviation is avoided, the production cost is reduced, and the industrial application is facilitated.

According to the invention, the walking chassis unit is used for driving the device to walk in an autonomous working stage, and when goods are loaded and unloaded, the connecting rod driving device drives the connecting rod structure to drive the walking chassis unit to separate from the ground, so that the frame is contacted with the ground, and compared with the ground contacted by the walking wheels, the stability of the device is improved.

As common knowledge, the height-adjustable self-propelled handling device further comprises a non-contact laser radar sensor, a pressure sensor and a photoelectric sensor. The non-contact laser radar sensor is used for measuring the lifting height of the main roller platform, the auxiliary roller platform and the telescopic sucking disc unit and feeding back to the controller, the controller controls the hydraulic station to control the lifting of the main roller platform, the auxiliary roller platform and the telescopic sucking disc unit, the non-contact laser radar sensor feeds back the height information of the main roller platform, the auxiliary roller platform and the telescopic sucking disc unit to realize the closed-loop control of the height control, the pressure sensor is used for measuring the pressure of hydraulic oil and feeding back to the controller to ensure the normal work of the hydraulic station system, the photoelectric sensor is used for measuring the position of goods and feeding back to the controller, and the controller controls the start and stop of the controllable limiting piece.

The invention also comprises an electric control box, an operation control box, a pneumatic control box, a hydraulic station and other conventional components, wherein conventional electric elements such as a controller and the like are arranged in the electric control box and used for controlling the operation of each unit, a conventional touch screen is arranged on the operation control box and used for operating, setting and controlling the invention by an operator, conventional pneumatic elements such as a vacuum pump and the like are arranged in the pneumatic control box and used for generating vacuum so as to enable the sucking disc to adsorb goods, and the hydraulic station comprises conventional hydraulic elements such as a hydraulic motor and the like and used for controlling driving equipment of each unit. The components are all existing products, and specific using methods and control methods are conventional technologies, so long as the functions of the components can be realized.

The invention discloses a loading and unloading method by utilizing the height-adjustable self-propelled loading and unloading device, wherein the loading and unloading method comprises one or two of a loading method and an unloading method;

The unloading method comprises the following steps of controlling a vertical displacement unit to drive a main roller platform and a telescopic sucker unit on the vertical displacement unit to displace to the highest row of the vertical surface of goods, controlling a telescopic assembly to push a sucker assembly to displace forwards and absorb the goods and then displace backwards to the main roller platform;

The loading method comprises the following steps of controlling a main roller platform and an auxiliary roller platform to be positioned on the same plane to form a conveying line, enabling cargoes to be positioned on the auxiliary roller platform and conveyed to the main roller platform from the auxiliary roller platform, controlling a vertical displacement unit to drive the main roller platform and a telescopic sucker unit on the main roller platform to displace to the lowest working position, controlling a telescopic assembly to push a sucker assembly to displace forwards and contact with the cargoes, pushing the cargoes to fall on the loading platform, and repeating the steps to finish loading.

Preferably, the machine frame is provided with a goods access platform, the goods access platform and the auxiliary roller platform can form a conveying line, and when the goods are loaded or unloaded, the goods access platform and the auxiliary roller platform are positioned on the same plane, and the goods are conveyed from the goods access platform to the auxiliary roller platform or from the auxiliary roller platform to the goods access platform.

Preferably, the walking chassis unit is arranged on the frame and comprises walking wheels, the frame is connected with the walking chassis unit through a connecting rod structure, and when loading or unloading is carried out, the connecting rod structure drives the walking chassis unit to move upwards, the walking wheels are separated from the ground, and the frame is in contact with the ground.

The invention discloses application of the height-adjustable self-propelled loading and unloading device in loading and unloading, wherein the loading and unloading comprises one or two of loading and unloading. Preferably, the height-adjustable self-propelled handling device is used for continuously handling goods. Further preferably, the height-adjustable self-propelled handling device is used for continuously handling a row of goods.

The invention has the beneficial effects that:

(1) Compared with a manual loading and unloading mode, the automatic loading and unloading mode has high efficiency, can meet the modern production requirements, and particularly can simultaneously load and unload a plurality of cargoes in the whole row, thereby greatly improving the loading and unloading efficiency;

(2) The main roller platform and the auxiliary roller platform can be lifted, the roller platforms are independent, loading and unloading are not affected by each other, and loading and unloading efficiency is further improved;

(3) The upper part of the sucking disc component is in sliding connection with the telescopic component, the lower part of the sucking disc component is fixedly connected with the telescopic component, and the sucking disc component can incline at a certain angle in the upward lifting process of the telescopic sucking disc unit, so that the contact area between the goods and the lower-layer goods as well as the contact area of the main roller platform can be reduced in the process of sucking and pulling the goods by the sucking disc, the telescopic component is convenient to move the goods onto the main roller platform, the situation that the goods are overweight and fall off in the displacement process is avoided, and the safety and stability of the device are improved;

(4) By arranging the walking chassis unit, the device can be driven to walk in an autonomous working stage, and the device can be contracted up and down in the cargo loading and unloading process, so that the frame contacts the ground, the stability of the device is further improved, and the device is more flexible and reliable;

(5) The driving travelling wheel adopts a rigid shaft connection mode, so that the device can keep straight running in the running process of an autonomous working stage, the deviation is avoided, the production cost is reduced, and the industrial application is facilitated;

(6) By arranging the traction driving unit, an operator can traction the device to any loading and unloading point, so that the device is convenient to use and high in flexibility;

(7) Compared with the linear conveying line of the existing device, the conveying line is of a loop shape, occupies a smaller area, and is suitable for loading and unloading of various goods.

Drawings

Fig. 1 is a schematic diagram of a height-adjustable self-propelled handling device according to the first embodiment.

Fig. 2 is a second state diagram of fig. 1.

Fig. 3 is an enlarged schematic view of a portion a in fig. 2.

Fig. 4 is a top view of a height-adjustable self-propelled handling device according to the first embodiment.

Fig. 5 is an enlarged schematic view of a portion a in fig. 4.

Fig. 6 is an enlarged schematic view of the portion B in fig. 4.

Fig. 7 is a left side view of the height-adjustable self-propelled handling device according to the first embodiment.

Fig. 8 is a right side view of the height-adjustable self-propelled handling device according to the first embodiment.

Fig. 9 is a schematic view of the structure of the frame.

Fig. 10 is a schematic view of the structure of the frame, the traveling chassis unit, and the traction drive unit.

Fig. 11 is a right side view of the height-adjustable self-propelled handling device in the traction stage.

Wherein: frame 1, walking chassis unit 2, traction drive unit 3, electric control box 4, operation control box 5, pneumatic control box 6, main roller platform 7, telescopic suction cup unit 8, auxiliary roller platform 9, vertical displacement unit 10, hydraulic station 11, cargo access platform 12, fixed column 101, fixed column connecting rod 102, frame chassis 103, walking chassis frame stopper 104, bracket stopper 105, spring lifting lug 106, lifting cylinder supporting lug 107, walking chassis frame 201, first connecting rod structure 202, second connecting rod structure 203, first walking chassis cylinder 204, second walking chassis cylinder 205, walking chassis drive motor 206, first driving walking wheel 207, second driving walking wheel 208, first driven walking wheel 209, second driven walking wheel 210, bracket 301, traction wheel 302, handle 303, first spring 304, second spring 305, first lifting cylinder 306 the second lift cylinder 307, the lift cylinder hydraulic oil pipe 308, the steering tie rod 309, the first auxiliary wheel 310, the second auxiliary wheel 311, the traction drive controller 312, the electric control box 401, the first emergency stop switch 402, the external power socket 403, the operating state indicator 404, the operation control box 501, the touch panel 502, the second emergency stop switch 503, the power state indicator 504, the pneumatic control box 601, the main roller platform frame 701, the transverse main roller group 702, the longitudinal main roller group 703, the front roller group 704, the collision sensor 705, the telescopic suction cup unit frame 801, the speed reducer motor 802, the speed reducer 803, the speed reducer shaft 804, the speed reducer rocker arm 805, the transverse slider 806, the transverse slider rail 807, the suction cup frame link group 808, the suction cup frame 809, the suction cup panel 810, the suction cup group 811, the hinge support 812, the sliding support 813, the auxiliary roller platform frame 901, A transverse auxiliary roller set 902, a longitudinal auxiliary roller set 903, a first motor 904, a second motor 905, a third motor 906, an auxiliary roller platform cylinder 907, an auxiliary roller platform lifting link set 908, a sliding column 1001, a vertical sliding block 1002 and a chain 1003, a first telescopic cylinder 1004, a second telescopic cylinder 1005, a third telescopic cylinder 1006, a fourth telescopic cylinder 1007, a fixed pulley 1008, a cargo access roller platform frame 1201 and a longitudinal cargo access roller set 1202.

Detailed Description

The present invention is further described below with reference to the accompanying drawings and examples, wherein the specific components are conventional products, conventional mounting holes are formed in the specific components, and the connection and use methods between the specific components are conventional techniques.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein are used for the purpose of describing particular embodiments only and are not intended to limit the invention, e.g., the terms "length," "width," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. indicate orientations or positions based on the orientations or positions shown in the drawings, and are merely for convenience of description and are not to be construed as limiting the present invention. In the invention, the main roller platform, the auxiliary roller platform and the goods access platform are arranged front and back, the position of the electric control box is left, and the position of the operation control box is right.

As common knowledge, the main roller platform and the auxiliary roller platform design the number of the driving rollers according to actual needs, so long as the cargo conveying function of the invention can be met.

The terms first, second, third, fourth and the like in the description and in the claims or in the above drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order.

Example 1

As shown in fig. 1 to 11:

The utility model provides a height-adjustable formula is from walking loading and unloading device, includes frame 1 and is located walking chassis unit 2, traction drive unit 3, electrical control box 4, operation control box 5, pneumatic control box 6, main roller platform 7, flexible sucking disc unit 8, supplementary roller platform 9, vertical displacement unit 10, hydraulic pressure station 11, goods access platform 12 in the frame.

The frame 1 comprises 8 fixed upright posts 101, fixed upright post connecting rods 102, a frame chassis 103, a walking chassis frame limiter 104, a bracket limiter 105, a spring lifting lug 106 and a jacking oil cylinder supporting lug 107. The frame chassis 103 is of a frame structure and is used for installing other components of the invention, the fixed upright 1101 is arranged on the frame chassis 103 and is used for limiting the sliding upright 1001 to slide in the vertical direction in the fixed upright 1101, the fixed upright connecting rod 102 is connected with the fixed upright 1101 and is used for fixedly connecting the fixed upright 1101 so as to ensure structural strength and device operation stability, the walking chassis frame limiter 104 is arranged on the frame chassis 103 and is used for limiting the walking chassis unit 2 to move in the vertical direction only, the bracket limiter 105 is arranged on the frame chassis 103 and is used for limiting the traction driving unit 3 to move in the vertical direction only, the spring lifting lug 106 is arranged on the frame chassis 103 and is used for hanging the first spring 304 and the second spring 305, and the jacking cylinder supporting lug 107 is arranged on the frame chassis 103 and is used for supporting the first jacking cylinder 306 and the second jacking cylinder 307.

The walking chassis unit 2 comprises a walking chassis frame 201, a first connecting rod structure 202, a second connecting rod structure 203, connecting rod driving equipment and walking wheels, wherein the connecting rod driving equipment comprises a first walking chassis oil cylinder 204 and a second walking chassis oil cylinder 205, and the walking wheels comprise a first driving walking wheel 207, a second driving walking wheel 208, a first driven walking wheel 209 and a second driven walking wheel 210. The walking chassis frame 201 is a frame structure and is used for installing other parts of the unit; the first driving travelling wheel 207 and the second driving travelling wheel 208 are arranged on the travelling chassis frame 201 and close to one end of the traction driving unit 3, the first driving travelling wheel 207 and the second driving travelling wheel 208 are connected with the same transmission shaft, the transmission shaft is connected with the travelling chassis driving motor 206, and the travelling chassis driving motor 206 drives the first driving travelling wheel 207 and the second driving travelling wheel 208 to synchronously rotate, so that travelling in an autonomous working stage of the invention is driven; the first driven travelling wheel 209 and the second driven travelling wheel 210 are arranged on the travelling chassis frame 201 and far away from one end of the traction driving unit 3, and rotate along with the first driven travelling wheel 207 and the second driven travelling wheel 208, the first connecting rod structure 202, the first travelling chassis oil cylinder 204, the second connecting rod structure 203 and the second travelling chassis oil cylinder 205 are symmetrically arranged in a central axis, the actions of the first connecting rod structure 202 and the second connecting rod structure 203 are consistent and synchronous, the first connecting rod structure 202 and the second connecting rod structure 203 are of a multi-connecting-rod structure, the first connecting rod structure 202 is connected with the chassis 103, the travelling chassis frame 201 and the first travelling chassis oil cylinder 204, the second connecting rod structure 203 is connected with the chassis 103, the travelling chassis frame 201 and the second travelling chassis oil cylinder 205, and the first travelling chassis oil cylinder 204 and the second travelling chassis oil cylinder 205 are respectively connecting rod driving devices of the first connecting rod structure 202 and the second connecting rod structure 203 and are used for driving the first connecting rod structure 202 and the second connecting rod structure 203 to drive the unit to vertically move upwards under the limit of the travelling chassis frame limiter 104 until the chassis 103 contacts the ground. The traveling chassis driving motor 206 is hydraulically driven, and can be electrically driven in practical application, and the first traveling chassis oil cylinder 204 and the second traveling chassis oil cylinder 205 are hydraulic oil cylinders, and can be other types of oil cylinders in practical application, such as a motion actuator, so long as the motion of the connecting rod structure can be driven, and the realization of the technical effect of the invention is not affected.

The traction drive unit 3 comprises a bracket 301, a traction wheel 302, a jacking assembly comprising a handle 303 and a jacking device controlled by the handle 303, the jacking device comprising a first spring 304, a second spring 305, a first jacking cylinder 306, a second jacking cylinder 307, a jacking cylinder hydraulic oil pipe 308. The bracket 301 is of a beam structure, is connected with the chassis 103 of the frame through jacking equipment and is used for installing other parts of the unit; the first spring 304 and the first jack-up cylinder 306, the second spring 305 and the second jack-up cylinder 307 are symmetrically arranged at two ends of the upper surface of the bracket 301 respectively, the first spring 304 and the second spring 305 are connected with the spring lifting lug 106 respectively, the first jack-up cylinder 306 is fixedly connected with the jack-up cylinder supporting lug 107, the second jack-up cylinder 307 is rotationally connected with the jack-up cylinder supporting lug 107, in practical application, the first jack-up cylinder 306 can also be rotationally connected with the jack-up cylinder supporting lug 107, the first jack-up cylinder 306 and the second jack-up cylinder 307 are connected through a jack-up cylinder hydraulic oil pipe 308, the actions of the two are kept consistent and synchronous, the traction wheel 302 is rotationally arranged on the bracket 301, the handle 303 is connected with the second jack-up cylinder 307, the traction wheel 302 is connected with the second jack-up cylinder 307 through a steering pull rod 309, and when the handle 303 is rotated, the traction wheel 302 is driven to steer through the steering pull rod 309, and when the handle 303 is pressed, the first jack-up cylinder 306 and the second jack-up cylinder 307 synchronously lift up, the lower surface of the bracket 301 is respectively provided with two auxiliary wheels 311, and the two auxiliary wheels are symmetrically provided with auxiliary balance wheels and the two auxiliary balance wheels are in balance, and the balance wheels are kept in the same specification, and the balance wheels are kept in the balance, and the two traction wheels are balanced.

In this embodiment, the traction wheel 302 is a driving wheel, the power source is a storage battery (existing product) mounted on the chassis 103 of the stand, the specific connection mode and the using method are the prior art, the handle 303 is provided with a traction driving controller 312 for controlling the forward rotation, the reverse rotation and the braking of the traction wheel driving motor, the traction wheel 302 can also be a driven wheel, and the traction wheel 302 can be selected according to the needs in practical application, so that the realization of the technical effect of the invention is not affected. The first spring 304 and the second spring 305 are identical in specification, and are tension springs for lifting the traction drive unit 3 when the first lift cylinder 306 and the second lift cylinder 307 are not in operation, so that none of the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 is in contact with the ground.

The main roller platform 7 and the auxiliary roller platform 9 are positioned at two sides of the vertical displacement unit 10, and the main roller platform 7, the auxiliary roller platform 9 and the goods in-out platform 12 are sequentially arranged to form a conveying line.

The main roll platform 7 comprises a main roll platform frame 701, a cross-machine main roll set 702, a machine main roll set 703, a front roll set 704, and a collision sensor 705. The main roller platform frame 701 is arranged on a corresponding vertical sliding block 1002, the vertical sliding block 1002 is synchronously driven by a first telescopic oil cylinder 1004 and a fourth telescopic oil cylinder 1007 to slide up and down in a sliding upright column 1001, so that the main roller platform 7 is driven to move up and down, the front roller group 704 is arranged at the front end of the main roller platform frame 701, so that the telescopic sucker unit 8 can conveniently pull adsorbed cargoes to the main roller platform 7 or push cargoes to a loading platform, the longitudinal main roller group 703 is arranged at the left end and the right end of the main roller platform frame 701, the transverse main roller group 702 is arranged in the main roller platform frame 701 and is positioned at the inner sides of the front roller group 704 and the longitudinal main roller group 703, the conventional electrical control box 4 conventionally controls the rotation direction of a driving roller on the transverse main roller group 702, so that cargoes can rotate in the same direction to one end of the main roller platform 7, and the rotation direction of a part of the driving roller is opposite to the rotation direction of the rest driving roller, so that cargoes are conveyed to the two ends of the main roller platform 7. In the embodiment, the rotation directions of the driving rollers are consistent during loading, cargoes are conveyed to the main roller platform 7 from one end of the auxiliary roller platform 9, and the rotation directions of half driving rollers are opposite to the rotation directions of the rest driving rollers during unloading, and cargoes are conveyed to the auxiliary roller platform 9 from two ends of the main roller platform 7. The collision sensor 705 is arranged on the front side of the main roller platform frame 701 and faces to the vertical plane of the goods, is a flexible strip sensor (existing product), has the length consistent with that of the main roller platform frame 701, generates signals after colliding with the goods and transmits the signals to each control box, and each control box controls the operation of each component of the invention so as to realize the autonomous operation of the invention, and the specific connection mode and the using method are conventional technologies.

The auxiliary roller platform 9 is installed on the chassis 103 through a lifting mechanism and comprises an auxiliary roller platform frame 901, a transverse auxiliary roller group 902, a longitudinal auxiliary roller group 903 and 3 controllable limiting pieces, wherein the controllable limiting pieces comprise a first motor 904, a second motor 905 and a third motor 906, controllable connecting rods connected with baffles are arranged at the motor shaft ends of the motors, and the motors are started to drive the baffles to lift. The lifting mechanism comprises an auxiliary roller platform oil cylinder 907 and an auxiliary roller platform lifting connecting rod group 908, an auxiliary roller platform frame 901 is arranged on the auxiliary roller platform lifting connecting rod group 908, the auxiliary roller platform lifting connecting rod group 908 is of a scissor fork type lifting structure, the auxiliary roller platform oil cylinder 907 drives the auxiliary roller platform lifting connecting rod group 908 to lift, so that the auxiliary roller platform 9 is driven to vertically move up and down, the auxiliary roller platform 9 and the main roller platform 7 or the goods entering and exiting platform 12 are arranged on the same horizontal plane, the goods loading or unloading and the goods conveying efficiency are improved, the transverse auxiliary roller group 902 and the longitudinal auxiliary roller group 903 are arranged in the auxiliary roller platform frame 901, the longitudinal auxiliary roller group 903 is aligned with the longitudinal main roller group 703 and the longitudinal goods entering and exiting roller group 1202 respectively, a conveying line is formed, the conventional electric control box 4 conventionally controls the rotation direction of a driving roller on the transverse auxiliary roller group 902, the driving roller group 908 can rotate in the same direction, the goods can be conveyed to one end of the auxiliary roller platform 9, and the goods can also be conveyed to two ends of the auxiliary roller platform 9 in a part of the driving direction opposite to the rotation direction of the other driving rollers. In the embodiment, the rotation directions of the driving rollers are consistent during loading, cargoes are conveyed to the main roller platform 7 from one end of the auxiliary roller platform 9, and the rotation directions of half driving rollers are opposite to the rotation directions of the rest driving rollers during unloading, and cargoes are conveyed to the auxiliary roller platform 9 from two ends of the main roller platform 7. The first motor 904, the second motor 905 and the third motor 906 are arranged in the auxiliary roller platform frame 901 and are positioned in the middle area of the auxiliary roller platform 9, the start and stop of the motors are orderly controlled, and the goods are conveyed and accumulated and put, for example, the first motor 904 is started, the second motor 905 and the third motor 906 are in a closed state, or the second motor 905 is started, the first motor 904 and the third motor 906 are in a closed state, and the ordered conveying of the goods is ensured.

The cargo access platform 12 is disposed on the chassis 103 and forms a conveyor line with the auxiliary roller platform 9, and includes a cargo access roller platform frame 1201 and a longitudinal cargo access roller assembly 1202 mounted on the cargo access roller platform frame 1201.

The telescopic sucker unit 8 comprises a telescopic component and a sucker component positioned on the telescopic component, wherein the telescopic component comprises a telescopic sucker unit frame 801, a speed reducer motor 802, a speed reducer 803, a speed reducer shaft 804, a speed reducer rocker 805, a transverse slider 806, a transverse slider guide 807, a sucker frame linkage 808 and a sucker frame 809, and the sucker component comprises a sucker panel 810 and a sucker group 811. The telescopic sucker unit frames 801 are arranged on the corresponding vertical sliding blocks 1002 and are synchronously driven by a second telescopic oil cylinder 1005 and a third telescopic oil cylinder 1006, the vertical sliding blocks 1002 slide up and down in the sliding upright columns 1001 so as to drive the telescopic sucker units 8 to move up and down, the speed reducer motors 802 and the speed reducer units 803 are arranged on the telescopic sucker unit frames 801, in the embodiment, the speed reducer 803 are 4 tables and are symmetrically arranged, 2 tables and 6 tables can be arranged in practical application, the symmetrical arrangement does not affect the realization of the technical effects of the telescopic sucker unit frames, the speed reducer motors 802 drive the speed reducers 803,4 through speed reducer shafts 804 to drive the speed reducers 803 to be rigidly connected with the speed reducer shafts 804, so that the actions are consistent and synchronous under the driving of the speed reducer motors 802, speed reducer rocker arms 805 are arranged at the output shaft ends of the speed reducers 803, the other ends of the speed reducer rocker arms 805 are hinged with the transverse slider arms 805, the transverse slider arms 806 are consistent with the speed reducer units 803, the transverse slider units 803 are arranged on the transverse slider guide rails 807, the transverse slider guide rails 807 are arranged on the sucker frame 809, one ends of the sucker frame connecting rod set 808 are in a structure, one end of the sucker frame connecting rod set is connected with the speed reducer unit frame body 803, and the other end frame body is connected with the lower sucker frame body 809 through a plurality of suckers 810, and the sucker frame body is connected with the upper sucker frame body 810 through a plurality of suckers support body 810.

The vertical displacement unit 10 comprises a vertical displacement driving device arranged on the chassis 103 of the frame, 8 sliding columns 1001, 8 vertical sliding blocks 1002 and 8 chains 1003, and the vertical displacement driving device comprises a first telescopic cylinder 1004, a second telescopic cylinder 1005, a third telescopic cylinder 1006 and a fourth telescopic cylinder 1007. Each sliding upright column 1001 is respectively arranged in a corresponding fixed upright column 101, the top of each sliding upright column is connected with a piston rod of a telescopic cylinder, the piston rod of one telescopic cylinder is connected with two sliding upright columns 1001, the concrete connection mode and the use method are the prior art, the understanding of the invention by a person skilled in the art is not affected, fixed pulleys 1008 are arranged at the top of each sliding upright column 1001, each vertical sliding block 1002 is respectively arranged in the corresponding sliding upright column 1001, a chain 1003 bypasses the fixed pulleys 1008, one end of each chain is connected with the corresponding vertical sliding block 1002, the other end of each chain is connected with a cylinder body of the telescopic cylinder, the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007 are symmetrically arranged, the actions of the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007 are consistent and synchronous, the piston rods of the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007 drive the sliding upright columns 1001 connected with the first telescopic cylinder to slide up and down in the fixed upright columns 101, the vertical sliding upright columns 1002 are driven by the chain 1003 to slide up and down in the sliding upright columns 1001, and further drive the vertical sliding upright columns 1002 to move up and down in the vertical sliding upright columns 8.

As common knowledge, the invention also comprises a non-contact laser radar sensor, a pressure sensor and a photoelectric sensor. The non-contact laser radar sensor is used for measuring the lifting height of the main roller platform 7, the auxiliary roller platform 9 and the telescopic sucker unit 8 and feeding back to the controller, the controller controls the hydraulic station 11 to control the lifting of the main roller platform 7, the auxiliary roller platform 9 and the telescopic sucker unit 8, the non-contact laser radar sensor feeds back the height information of the main roller platform 7, the auxiliary roller platform 9 and the telescopic sucker unit 8 to realize the closed-loop control of the height control, the pressure sensor is used for measuring the pressure of hydraulic oil and feeding back to the controller to ensure the normal operation of a hydraulic station 11 system, the photoelectric sensor is used for measuring the position of goods and feeding back to the controller, and the controller controls the starting and stopping of the controllable limiting piece.

As a matter of common knowledge, the present invention also includes conventional components such as an electric control box 4, an operation control box 5, a pneumatic control box 6, and a hydraulic station 11.

The electrical control box 4 comprises an electrical control box body 401, a first emergency stop switch 402, an external power socket 403, a working state indicator lamp 404 and conventional electrical elements such as a PLC, a motor controller, a roller controller, a circuit breaker, a relay, an electric wire and the like which are arranged in the electrical control box body 401, and the electrical control box is used for controlling the operation of each unit, and the specific connection mode and the using method are conventional technologies. The electric control box body 401 is arranged on the chassis 103 of the machine frame and used for installing and protecting electric elements, the first emergency stop switch 402 and the external power socket 403 are arranged on the electric control box body 401 and close to one side of the traction driving unit 3, the first emergency stop switch 402 is convenient for an operator to conduct emergency power-off operation when the electric control box body is abnormal in operation, the external power socket 403 is convenient for a Ji Waijie power cable, and the working state indicator lamp 404 is arranged on the top of the electric control box body 401 and used for indicating the working state of the electric control box body.

The operation control box 5 includes an operation control box body 501, a touch screen 502, a second scram switch 503, and a power status indicator lamp 504. The operation control box body 501 is arranged on a connecting rod connected with the top of the electric control box body 401 and the pneumatic control box body 601 and used for installing and protecting the touch screen 502, the second scram switch 503 and the power state indicator lamp 504, the touch screen 502 is arranged on the operation control box body 501 and is close to one side of the traction driving unit 3 and used for operation setting and control of the invention, the second scram switch 503 and the power state indicator lamp 504 are respectively arranged on two sides of the touch screen 502, the second scram switch 503 is convenient for an operator to conduct emergency power-off operation when the operation of the invention is abnormal, and the power state indicator lamp 504 is used for indicating the state of an external power supply.

The air-operated control box 6 includes an air-operated control box body 601 and conventional air-operated components such as a vacuum pump, a vacuum control solenoid valve, a vacuum switch, a flow sensor, a vacuum filter, a vacuum tube, etc. installed in the air-operated control box body 601, for generating a vacuum to make the suction cup adsorb goods, and the specific connection and the use method are conventional techniques. The pneumatic control box 601 is mounted on the chassis 103 for mounting and protecting pneumatic components, and the pneumatic control box 6 is connected with the suction cup set 811 through a vacuum tube for generating vacuum to suck the goods.

The hydraulic station 11 is arranged on the chassis 103 and comprises conventional hydraulic elements such as a hydraulic motor, a hydraulic pump, a hydraulic valve island, a hydraulic oil tank and a hydraulic pipe joint, and is selected according to the actual application, and the first traveling chassis oil cylinder 204, the second traveling chassis oil cylinder 205, the traveling chassis driving motor 206, the auxiliary roller platform oil cylinder 907, the first telescopic oil cylinder 1004, the second telescopic oil cylinder 1005, the third telescopic oil cylinder 1006 and the fourth telescopic oil cylinder 1007 are all controlled by the hydraulic station 11 to act.

Example two

The difference between this embodiment and the first embodiment is that the rotation direction of the driving rolls on all the lateral main roll sets 702 is the same, the rotation direction of the driving rolls on all the lateral auxiliary roll sets 903 is the same, and the rest is the same when unloading. The cargo conveyance efficiency is not the same as that of the first embodiment.

Example III

On the basis of the first embodiment, the difference of this embodiment is that the lifting mechanism is omitted, the auxiliary roller platform 9 and the goods in-out platform 12 are located on the same plane to form a conveying line, and the rest are the same. The cargo conveyance efficiency is not the same as that of the first embodiment.

Example IV

The present embodiment differs from the first embodiment in that the sliding support 813 connecting the upper part of the suction cup panel 810 and the suction cup frame 809 is replaced with a hinge support 812, and the rest are the same.

Example five

The present embodiment differs from the first embodiment in that the cargo access roller platform frame 1201 and the longitudinal cargo access roller sets 1202 are replaced with conveyor belts, the remainder being the same.

Example six

A method of unloading using the apparatus of embodiment one, comprising the steps of;

traction walking stage:

(1) The first driven travelling wheel 207, the second driven travelling wheel 208, the first driven travelling wheel 209 and the second driven travelling wheel 210 are contacted with the ground, the chassis 103, the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 are separated from the ground, and the device is in a horizontal state;

(2) The operator manually presses the handle 303 up and down, the piston rods of the first lifting cylinder 306 and the second lifting cylinder 307 extend out to prop against the lifting cylinder supporting lug 107, and overcome the tensile force of the first spring 304 and the second spring 305, so that the traction driving unit 3 moves vertically downwards under the limit of the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 contact the ground, and the device is in an inclined state, so that the first driving walking wheel 207 and the second driving walking wheel 208 are separated from the ground, as shown in fig. 9;

(3) The operator operates the traction drive controller 312 to cause the present invention to advance, retract, or brake;

(4) When steering is needed, an operator rotates the handle 303, and the traction wheel 302 keeps the same steering angle as the handle 303 under the action of the steering pull rod 309, so that steering is realized;

(5) The operator pulls the device to a loading point and directly faces the unloading platform, the oil pressure of the first lifting oil cylinder 306 and the second lifting oil cylinder 307 is removed, the traction driving unit 3 moves vertically upwards under the action of the first spring 304, the second spring 305 and the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 are separated from the ground, meanwhile, the first driving travelling wheel 207 and the second driving travelling wheel 208 contact the ground, and the device is in a horizontal state;

(6) The operator connects external power plug to external power socket 403, operates touch screen 502, makes main roller platform 7, flexible sucking disc unit 8, supplementary roller platform 9 and vertical displacement unit 10 all reset to minimum working position, and this device gets into independent working phase after confirming.

And (3) unloading is completed, the steps (2) to (4) are repeated, and the device is pulled to other places or other unloading points.

(II) autonomous working phase:

(1) The traveling chassis driving motor 206 drives the first traveling wheel 207 and the second traveling wheel 208, so that the device is driven to travel forward in a straight line until the collision sensor 705 contacts the nearest cargo elevation, and the hydraulic station 11 controls the traveling chassis driving motor 206 to stop working;

(2) The hydraulic station 11 controls the first walking chassis oil cylinder 204 and the second walking chassis oil cylinder 205, and the first connecting rod structure 202 and the second connecting rod structure 203 drive the walking chassis frame 201 to vertically move upwards under the limit of the walking chassis frame limiter 104 until the frame chassis 103 is contacted with the ground;

(3) The hydraulic station 11 controls a second telescopic oil cylinder 1005, a third telescopic oil cylinder 1006, a first telescopic oil cylinder 1004 and a fourth telescopic oil cylinder 1007, and corresponding vertical sliding blocks 1002 respectively drive the telescopic sucker unit 8 and the main roller platform 7 to move upwards to the position of the highest row of goods to be unloaded of the nearest goods elevation;

(4) The speed reducer motor 802 drives the speed reducer 803 through the speed reducer shaft 804, and the speed reducer rocker 805 pushes the sucker assembly to displace forwards until the sucker contacts with the goods;

(5) The pneumatic control box 6 controls the suction disc to generate vacuum, and the suction disc adsorbs a row of goods;

(6) The speed reducer motor 802 reversely rotates, the speed reducer rocker arm 805 drives the sucker assembly to shrink backwards, and the adsorbed goods are completely pulled onto the main roller platform 7;

(7) The pneumatic control box 6 controls the suction disc to eliminate vacuum, and the suction disc is separated from the goods;

(8) The speed reducer motor 802 continues to reversely rotate, and the speed reducer rocker 805 drives the sucker assembly to backwardly shrink to the minimum position;

(9) The hydraulic station 11 controls the first telescopic oil cylinder 1004 and the fourth telescopic oil cylinder 1007, the corresponding vertical sliding blocks 1002 drive the full-load main roller platform 7 to move downwards, meanwhile, the hydraulic station 11 controls the auxiliary roller platform oil cylinder 907, and the auxiliary roller platform lifting connecting rod group 908 drives the empty auxiliary roller platform 9 to move upwards until the two are positioned on the same plane to form a conveying line;

(10) The transverse main roller set 702, the longitudinal main roller set 703, the transverse auxiliary roller set 902, the longitudinal auxiliary roller set 903 and the third motor 906 are started simultaneously, and all cargoes are conveyed to the auxiliary roller platform 9 from the two ends of the main roller platform 7;

(11) The hydraulic station 11 controls the first telescopic cylinder 1004, the fourth telescopic cylinder 1007, the second telescopic cylinder 1005 and the third telescopic cylinder 1006, the corresponding vertical sliding blocks 1002 drive the main roller platform 7 to move upwards to the position of the highest row of goods to be unloaded of the nearest goods elevation, the corresponding vertical sliding blocks 1002 drive the telescopic sucker units 8 to move downwards to the position of the highest row of goods to be unloaded of the nearest goods elevation, meanwhile, the hydraulic station 11 controls the auxiliary roller platform cylinder 907, and the auxiliary roller platform lifting connecting rod group 908 drives the fully loaded auxiliary roller platform 9 to move downwards until the fully loaded auxiliary roller platform and the goods in-out platform 12 are positioned on the same plane to form a conveying line;

(12) Turning off a third motor 906, starting a transverse auxiliary roller set 902, a longitudinal auxiliary roller set 903 and a longitudinal goods entering and exiting roller set 1202 simultaneously, sequentially starting a first motor 904 and a second motor 905 in sequence, and conveying all goods 9 on an auxiliary roller platform to an external device through a goods entering and exiting roller platform 12;

(13) Repeating the steps (4) to (12) until all the goods on the nearest goods elevation are completely unloaded and conveyed to an external device;

(14) The hydraulic station 11 controls the first traveling chassis oil cylinder 204 and the second traveling chassis oil cylinder 205, the first connecting rod structure 202 and the second connecting rod structure 203 drive the traveling chassis frame 201 to vertically move downwards under the limit of the traveling chassis frame limiter 104 until the first traveling wheel 207, the second traveling wheel 208, the first traveling wheel 209 and the second traveling wheel 210 contact the ground, the traveling chassis driving motor 206 drives the first traveling wheel 207 and the second traveling wheel 208, so that the device is driven to continuously travel forwards in a straight line until the collision sensor 705 contacts the nearest cargo elevation, the hydraulic station 11 controls the traveling chassis driving motor 206 to stop working, and the steps (2) to (13) are repeated until the unloading of the next nearest cargo elevation is completed and the next nearest cargo elevation is conveyed to an external device;

(15) Repeating the step (14) until the unloading operation of all cargoes is completed and the cargoes are conveyed to an external device.

When the sucking disc adsorbs goods and shifts backward, hydraulic pressure station 11 control second telescopic cylinder 1005, the flexible hydro-cylinder 1006 of third, and the vertical slider 1002 that corresponds drives flexible sucking disc unit 8 and lifts, and sucking disc panel 810 is the slope of certain angle under the effect of hinge support 812 and sliding support 813, and the goods reduces with the area of contact of lower floor's goods and main roller platform 7 in sucking disc adsorption movement in-process.

When the working position of the main roller platform 7 is lower than the minimum position of the auxiliary roller platform 9, the hydraulic station 11 controls the first telescopic oil cylinder 1004 and the fourth telescopic oil cylinder 1007, and the corresponding vertical sliding blocks 1002 drive the main roller platform 7 to move upwards until the main roller platform 7 and the auxiliary roller platform 9 are positioned on the same plane to form a conveying line.

When the auxiliary roller platform 9 and the goods access platform 12 convey goods to an external device, the main roller platform 7 and the telescopic sucker unit 8 are unloaded at the same time.

Example seven

The method for loading goods by using the device of the first embodiment comprises the following steps;

traction walking stage:

(2) The operator manually presses the handle 303 up and down, the piston rods of the first lifting cylinder 306 and the second lifting cylinder 307 extend out to prop against the lifting cylinder supporting lug 107, and overcome the tensile force of the first spring 304 and the second spring 305 to enable the traction driving unit 3 to vertically move downwards under the limit of the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 contact the ground, and the device is in an inclined state, so that the first driving walking wheel 207 and the second driving walking wheel 208 are separated from the ground;

(5) The operator pulls the device to a loading point and directly faces the loading platform, the oil pressure of the first lifting oil cylinder 306 and the second lifting oil cylinder 307 is removed, the traction driving unit 3 moves vertically upwards under the action of the first spring 304, the second spring 305 and the bracket limiter 105 until the traction wheel 302, the first auxiliary wheel 310 and the second auxiliary wheel 311 are separated from the ground, meanwhile, the first driving travelling wheel 207 and the second driving travelling wheel 208 contact the ground, and the device is in a horizontal state;

And (3) after loading is completed, repeating the steps (2) to (4), and pulling the device to other places or other loading points.

(II) autonomous working phase:

(1) The traveling chassis driving motor 206 drives the first traveling wheel 207 and the second traveling wheel 208, so that the device is driven to travel forward in a straight line until the collision sensor 705 contacts the nearest limiting elevation of the loading platform, and the hydraulic station 11 controls the traveling chassis driving motor 206 to stop working;

(2) The hydraulic station 11 controls the traveling chassis driving motor 206 to reversely rotate, so that the device is driven to linearly travel backwards for a certain distance, the hydraulic station 11 controls the traveling chassis driving motor 206 to stop working, the hydraulic station 11 controls the first traveling chassis oil cylinder 204 and the second traveling chassis oil cylinder 205, and the first connecting rod structure 202 and the second connecting rod structure 203 drive the traveling chassis frame 201 to move upwards until the chassis 103 of the machine frame contacts with the ground;

(3) The hydraulic station 11 controls the auxiliary roller platform oil cylinder 907, the auxiliary roller platform lifting connecting rod group 908 drives the auxiliary roller platform 9 and the goods in-out platform 12 to be in the same plane to form a conveying line, the hydraulic station 11 controls the first telescopic oil cylinder 1004 and the fourth telescopic oil cylinder 1007, the corresponding vertical sliding blocks 1002 drive the main roller platform 7 and the auxiliary roller platform 9 to be in the same plane to form the conveying line, the hydraulic station 11 controls the second telescopic oil cylinder 1005 and the third telescopic oil cylinder 1006, and the corresponding vertical sliding blocks 1002 drive the telescopic sucker unit 8 to be displaced to a position slightly larger than the height of the goods from the main roller platform 7;

(4) The longitudinal cargo access roller set 1202, the transverse auxiliary roller set 902, the longitudinal auxiliary roller set 903, the transverse main roller set 702, the longitudinal main roller set 703, the front roller set 704 and the first motor 904 are started simultaneously;

(5) The goods are conveyed to a goods access platform from an external device, then conveyed to a main roller platform 7 through the right end of an auxiliary roller platform 9, when the main roller platform 7 is full of goods, a transverse auxiliary roller group 902 and a longitudinal auxiliary roller group 903 are closed, a hydraulic station 11 controls a first telescopic oil cylinder 1004 and a fourth telescopic oil cylinder 1007, and a corresponding vertical sliding block 1002 drives the main roller platform 7 to move downwards to a lowest working position;

(6) The hydraulic station 11 controls the second telescopic cylinder 1005 and the third telescopic cylinder 1006, the corresponding vertical sliding blocks 1002 drive the telescopic sucker units 8 to move downwards to the position which is the smallest distance from the main roller platform 7, the speed reducer motor 802 drives the speed reducer 803 through the speed reducer shaft 804, the speed reducer rocker 805 pushes the sucker assemblies to move forwards and contact with goods, and the goods are continuously pushed until the whole row of goods is supported against the goods loading platform and the vertical face is limited to fall onto the goods loading platform recently;

(7) The hydraulic station 11 controls the first telescopic cylinder 1004 and the fourth telescopic cylinder 1007, the corresponding vertical sliding blocks 1002 drive the main roller platform 7 and the auxiliary roller platform 9 to be positioned on the same plane to form a conveying line, meanwhile, the hydraulic station 11 controls the second telescopic cylinder 1005 and the third telescopic cylinder 1006, the corresponding vertical sliding blocks 1002 drive the telescopic sucker units 8 to displace to a position slightly larger than the height of goods from the main roller platform 7, the speed reducer motor 802 drives the speed reducer 803 through the speed reducer shaft 804, the speed reducer rocker 805 drives the sucker assembly to shrink backwards to the minimum position, and the transverse auxiliary roller group 902 and the longitudinal auxiliary roller group 903 are started;

(8) The goods are conveyed to the goods in-out platform 12 from an external device and then conveyed to the main roller platform 7 through the auxiliary roller platform 9, when the main roller platform 7 is full of goods, the transverse auxiliary roller group 902 and the longitudinal auxiliary roller group 903 are closed, the hydraulic station 11 controls the first telescopic oil cylinder 1004 and the fourth telescopic oil cylinder 1007, the corresponding vertical sliding blocks 1002 drive the main roller platform 7 to move to a position slightly higher than the top surface of the previous row of goods, and the goods are pushed to the previous row of goods under the combined action of the telescopic sucker unit 8, the longitudinal main roller group 703 and the front roller group 704;

(9) Repeating the steps (7) and (8) until the loading of the whole goods is completed, when the operation position of the main roller platform 7 is higher than the position of the goods in-out platform 12, the goods are accumulated on the auxiliary roller platform 9, the hydraulic station 11 controls the auxiliary roller platform cylinder 907, and the auxiliary roller platform lifting connecting rod group 908 drives the auxiliary roller platform 9 to move upwards to be in the same plane with the main roller platform 7 to form a conveying line;

(10) The hydraulic station 11 controls the first walking chassis oil cylinder 204 and the second walking chassis oil cylinder 205, the first connecting rod structure 202 and the second connecting rod structure 203 drive the walking chassis frame 201 to vertically move downwards under the limit of the walking chassis frame limiter 104 until the first driving walking wheel 207, the second driving walking wheel 208, the first driven walking wheel 209 and the second driven walking wheel 210 contact the ground, and the steps (2) to (9) are repeated until the loading of the next whole cargo is completed;

(11) And (5) repeating the step (10) until the loading of all cargoes is completed.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

1. The height-adjustable self-propelled loading and unloading device is characterized by comprising a frame, a main roller platform, a telescopic sucker unit, an auxiliary roller platform and a vertical displacement unit, wherein the telescopic sucker unit comprises a telescopic assembly and a sucker assembly arranged on the telescopic assembly, the vertical displacement unit is arranged on the frame, the main roller platform and the telescopic assembly are respectively arranged on the vertical displacement unit, the main roller platform is arranged below the telescopic sucker unit, the main roller platform and the telescopic sucker unit are arranged on the same side of the vertical displacement unit, the auxiliary roller platform is arranged on the frame through a lifting mechanism, the main roller platform and the auxiliary roller platform can form a conveying line, the main roller platform and the auxiliary roller platform are arranged on two sides of the vertical displacement unit, the main roller platform comprises a transverse main roller group and a longitudinal auxiliary roller group, the longitudinal main roller group can form a conveying line, the transverse main roller group comprises two or more transverse main rollers, the transverse auxiliary roller group comprises two or more than two auxiliary roller groups, a motor, the transverse auxiliary roller group comprises a speed reducer, a crankshaft, a rocker arm, a speed reducer, a roller group and a speed reducer, and a sucker assembly.

2. The height-adjustable self-propelled handling device according to claim 1, wherein the vertical displacement unit comprises a vertical displacement driving device, the main roller platform and the telescopic assembly are arranged on different vertical displacement driving devices, the upper part of the sucker assembly is in sliding connection with the telescopic assembly, and the lower part of the sucker assembly is fixedly connected with the telescopic assembly.

3. The height-adjustable self-propelled handling device of claim 1, wherein the rack is provided with a goods access platform, and the goods access platform and the auxiliary roller platform can form a conveying line.

4. The height-adjustable self-propelled handling device of claim 1, wherein the main roller platform further comprises a front roller group, the conveying direction of the front roller group is consistent with the telescopic direction of the telescopic assembly, and the auxiliary roller platform is provided with a controllable limiting piece.

5. The height-adjustable self-propelled handling device of claim 1, further comprising one or two of a walking chassis unit and a traction driving unit, wherein the walking chassis unit is arranged on the frame and comprises walking wheels, the walking wheels are arranged on the frame in a lifting manner, at least one of the walking wheels is a driving walking wheel, the traction driving unit comprises a traction wheel and a jacking assembly, one end of the jacking assembly is connected with the frame, the other end of the jacking assembly is provided with a support, and the traction wheel is arranged on the support.

6. The height-adjustable self-propelled handling device of claim 5, wherein the walking chassis unit further comprises a walking chassis frame and a connecting rod driving device, the walking chassis frame is arranged on the frame through a connecting rod structure, the connecting rod driving device is connected with the connecting rod structure, the walking wheels are arranged on the walking chassis frame, the jacking assembly comprises a handle and jacking equipment controlled by the handle, one end of the jacking equipment is connected with the frame, and the other end of the jacking equipment is provided with a bracket.

7. The method for loading and unloading by using the height-adjustable self-propelled loading and unloading device according to claim 1 is characterized in that the loading and unloading method comprises one or both of a loading method and an unloading method, the unloading method comprises the steps of controlling a vertical displacement unit to drive a main roller platform and a telescopic sucker unit on the main roller platform to be displaced to the highest row of goods elevation, controlling a telescopic assembly to push a sucker assembly to displace forwards and absorb goods and then displace the goods backwards to the main roller platform, controlling the sucker assembly to be separated from the goods, controlling the main roller platform and the auxiliary roller platform to displace and enable the main roller platform and the auxiliary roller platform to be located on the same plane to form a conveying line, and repeating the steps, wherein the loading method comprises the steps of controlling the main roller platform and the auxiliary roller platform to be located on the same plane and enable the goods to be located on the auxiliary roller platform and to be conveyed from the auxiliary roller platform to the main roller platform, controlling the vertical displacement unit to drive the main roller platform and the telescopic sucker unit to displace the main roller platform and absorb goods to the lowest working position, controlling the assembly to push the goods to be pushed forwards and displace the telescopic assembly to contact with the goods and drop the goods to the auxiliary roller platform, and repeating the steps.

8. The method of loading and unloading a height-adjustable self-propelled loading and unloading device according to claim 7, wherein the rack is provided with a cargo access platform, the cargo access platform and the auxiliary roller platform can form a conveying line, and the cargo access platform and the auxiliary roller platform are positioned on the same plane when loading or unloading, and the cargo is conveyed from the cargo access platform to the auxiliary roller platform or from the auxiliary roller platform to the cargo access platform.

9. The method of loading and unloading a height-adjustable self-propelled loading and unloading device according to claim 7, wherein the walking chassis unit is arranged on the frame and comprises walking wheels, the frame is connected with the walking chassis unit through a connecting rod structure, the connecting rod structure drives the walking chassis unit to move upwards when loading or unloading, the walking wheels are separated from the ground, and the frame is in contact with the ground.

10. Use of the height-adjustable self-propelled handling device of any of claims 1 to 6 in handling, including one or both of loading and unloading.