CN212921751U

CN212921751U - Primary and secondary robot is carried to loading and unloading goods

Info

Publication number: CN212921751U
Application number: CN202020912331.3U
Authority: CN
Inventors: 徐斌; 陈洪波; 陈友
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-04-09
Anticipated expiration: 2030-05-26

Abstract

The utility model provides a loading and unloading goods conveying primary and secondary robot, which comprises a secondary vehicle, a primary seat, a hoisting mechanism and a control device; the sub-vehicle is used for loading and transporting goods; the primary seat is provided with a parking area with a front side opening, and the secondary vehicle can enter and exit the parking area from the front part of the parking area; the hoisting mechanism is arranged at the rear side of the parking area and comprises a hoist and a traction rope, one end of the traction rope is connected with the hoist, and the other end of the traction rope is connected with the sub-vehicle; the control device is used for communicating with the secondary vehicle and the primary seat to control the secondary vehicle to exit the parking area and control the winch to start. The utility model discloses a primary and secondary robot is carried to loading and unloading goods can transport the goods in the container to reduce porter's the amount of labour.

Description

Primary and secondary robot is carried to loading and unloading goods

Technical Field

The utility model belongs to the technical field of the commodity circulation conveyer and specifically relates to indicate a primary and secondary robot is carried to loading and unloading goods.

Background

The conventional logistics transportation mode is that a container with full-load goods is transported to a designated place by using a container truck, due to limitation of goods storage places and difference of goods forms, the conventional method for loading and unloading the goods on the container is to load and unload the goods by manually matching with auxiliary loading and unloading equipment, for example, an AGV forklift is used for assisting loading and unloading materials, the AGV forklift transports the goods placed on a tray to the container truck during operation, but the AGV forklift can only place the goods at the tail part of the container due to the limitation of the length of the AGV forklift, and then a carrier moves the goods on the tray into the container one by one so that the goods are placed from the front part to the tail part of the container; however, since the full-automatic equipment is used to transport goods, the operation is performed in a narrow space of the container, and the related automatic guiding device, guiding path, safety protection equipment, etc. need to be configured, and the related control program needs to be set to control the full-automatic equipment, which results in increased production cost and decreased flexibility.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's is not enough, provides a loading and unloading goods transport primary and secondary robot, can transport the goods in the container to reduce porter's the amount of labour.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a loading and unloading goods conveying primary and secondary robot comprises a primary vehicle, a primary seat, a hoisting mechanism and a control device; the sub-vehicle is used for loading and transporting goods; the primary seat is provided with a parking area with an opening at the front side, and the secondary vehicle can selectively enter and exit the parking area from the front part of the parking area; the hoisting mechanism is arranged on the rear side of the parking area and comprises a hoist and a traction rope, one end of the traction rope is connected with the hoist, and the other end of the traction rope is connected with the sub-vehicle; the control device is used for communicating with the secondary vehicle and the primary seat to control the secondary vehicle to exit the parking area and control the winch to start.

Compared with the prior art, the utility model discloses a loading and unloading goods transport primary and secondary robot has following beneficial effect:

(1) the utility model discloses simple structure, low cost, installation, control and maintenance are convenient, it mainly includes son car, mother seat, hoisting mechanism and controlling means, adopt the primary and secondary formula structure as the core part of robot, through arranging the mother seat of the utility model in the afterbody of container, then use controlling means control son car and hoisting mechanism work, make son car transport the goods at the anterior part of container and rear portion reciprocating motion, utilize the son car to carry out transportation treatment to the goods, and use the hoisting mechanism to realize that the son car is retrieved, thereby improve production efficiency, and effectively reduce the amount of labour of porter, effectively solve the problem that loading and unloading goods efficiency is low, workman intensity of labour is big and manufacturing cost is high, realize automatic warehouse and the inside intelligent transport integration of container;

(2) after the haulage rope of hoist mechanism connects the son car, can restrict the ascending home range of son car in longitudinal direction, after the haulage rope is tightened up in the hoist, can fix the son car, make the son car spacing in parking area to when being convenient for at every turn, carry out the transfer of goods to the son car that lies in the parking area on the same position.

Preferably, the sub-vehicle comprises a vehicle body, a control mechanism and a driving mechanism, a top cover for placing goods is arranged on the vehicle body, the driving mechanism comprises a driving motor, a driving wheel and a bearing wheel, the bearing wheel is provided with a plurality of bearing wheels, the bearing wheels are uniformly arranged at the bottom of the vehicle body, the driving wheel is arranged at the bottom of the vehicle body, the driving motor is used for driving the driving wheel to rotate, and the control mechanism can control the driving motor to work according to an instruction of a control device; the driving motor is arranged to drive the driving wheel to move when the sub-vehicle moves forwards; when the sub-vehicle backs, the driving motor does not drive the driving wheel to move and does not influence the driving wheel to move.

Preferably, a power supply circuit is arranged on the traction rope, the power supply circuit is connected with a power supply, and when the traction rope is connected with the sub-vehicle, the power supply circuit penetrates into the vehicle body and is electrically connected with the driving motor.

Through setting up the rope for traction and power supply line as an organic whole, on the one hand, can save the trouble that sets up the power on the son car to reduce the manufacturing cost of son car, and because there is not the power on the son car, alleviateed son car weight, thereby prolong the utility model discloses a duration, on the other hand can ensure that the power supply line swings along with the son car removes owing to traction is to rope and the whole setting of power supply line, avoids the power supply line to hinder the son car motion.

Preferably, the driving wheel is provided with parallel grains; because a plurality of grooves which extend from the front part to the rear part in parallel are arranged on the bottom surface of the container, the grains of the driving wheel can be matched with the grooves on the bottom surface of the container in the movement process of the driving wheel by arranging the parallel grains on the driving wheel, so that the driving wheel runs along the extending direction of the grooves according to a straight line track, and the sub-vehicle is prevented from deviating in the running process.

Preferably, the female seat comprises a seat body, the parking area is arranged on the seat body, a limiting part is arranged at the rear part of the seat body, the hoisting mechanism is arranged at the rear side of the limiting part, a line passing hole for a traction rope to pass through is formed in the limiting part, and the traction rope passes through the line passing hole and is connected with the secondary vehicle; the female seat adopts the arrangement mode, so that the secondary vehicle can retreat to the parking area and then abut against the limiting part, the initial position of the secondary vehicle is the same when the secondary vehicle moves at each time, and the goods can be placed on the secondary vehicle conveniently.

Preferably, the pedestal front side is equipped with guide part, be equipped with the entering inclined plane from the parking district downward sloping in the guide part, the setting that gets into the inclined plane can play the guide effect to the sub-car, makes the sub-car get into the parking district along the direction of the direction that gets into the inclined plane, and resistance, vibration and impact when the mother's seat about the sub-car can be reduced simultaneously, improve the stability that the sub-car passed in and out the parking district.

Preferably, the base body both sides are equipped with and block the wall, two block the wall and be used for the restriction to be located the home range of the both sides of the sub-car in parking area, through setting up and block the wall, when the sub-car is in parking area, the wall that blocks that is located sub-car both sides can play limiting displacement to the both sides of sub-car, ensures that the sub-car enters into to the assigned position in parking area on.

Preferably, the two sides of the guide part respectively correspond to the blocking walls on the two sides and are provided with a straightening inclined plane inclined towards the blocking walls; the position of the secondary vehicle is not correct relative to the primary seat due to the fact that the secondary vehicle can deviate to the left side or the right side after the secondary vehicle moves forwards and leaves the parking area, the two correcting inclined planes form a horn-shaped guide structure through the arrangement of the correcting inclined planes, when the secondary vehicle moves backwards and enters the parking area, the side portion of the secondary vehicle can gradually correct the position under the guide of the correcting inclined planes and returns to a designated position in the parking area to wait for next operation, and therefore cooperation of the secondary vehicle and the primary seat is achieved, storage of the secondary vehicle by the primary seat is completed, positioning speed is high, and positioning accuracy is high.

Preferably, a fork groove is formed in the blocking wall, the fork groove extends along the length direction of the blocking wall, and an external forklift forks the female seat through the fork groove; outside fork truck is through inserting the yoke two the fork pocket of blockking the wall is right female seat both sides carry out the centre gripping, outside fork truck lifts or descend behind the yoke, can realize placing or removing after female seat shifts.

Preferably, be provided with power module on the female seat, power module is used for providing the electric energy for hoist mechanism and son car, because hoist mechanism and son car use same energy supply system to only need charge to this power module, can ensure the normal function of hoist mechanism and son car, thereby the producer operation of being convenient for, and improve the utility model discloses a charging efficiency.

Drawings

Fig. 1 is a cross-sectional view of the present invention;

fig. 2 is a front view of the present invention;

fig. 3 is a top view of the present invention;

FIG. 4 is a perspective view of the sub-cart;

FIG. 5 is a schematic view of a drive wheel;

FIG. 6 is a cross-sectional view of the pull-cord;

FIG. 7 is a perspective view of the female socket;

FIG. 8 is a front view of the female socket;

FIG. 9 is a rear view of the female socket;

FIG. 10 is a flow chart of a method of use of the present invention;

fig. 11 is a schematic view of a forklift moving the present invention to a container in the second embodiment;

fig. 12 is a first schematic view of the present invention positioned within a container;

fig. 13 is a second schematic view of the present invention positioned within a container;

fig. 14 is a schematic view of the second embodiment of the forklift moving the goods to the present invention;

fig. 15 is a schematic view of cargo on the present invention;

fig. 16 is a first schematic view of the present invention for carrying goods according to the second embodiment;

fig. 17 is a second schematic view of the present invention for carrying goods according to the second embodiment;

fig. 18 is a schematic diagram of the backward shift of the present invention in the second embodiment;

fig. 19 is a schematic view of the present invention in the second embodiment, which is moved backward to a parking space;

fig. 20 is a schematic view of the second embodiment with the forklift removed from the pallet of the present invention;

fig. 21 is a flow chart of another method of use of the present invention;

fig. 22 is a schematic view illustrating the nth time cargo is transferred according to the third embodiment of the present invention;

fig. 23 is a schematic view illustrating the third embodiment of the present invention retreats to the parking area after the nth transportation of the cargo;

fig. 24 is a schematic view of the third embodiment of the forklift moving out of the pallet on the present invention;

fig. 25 is a flow chart of a third method of use of the invention;

fig. 26 is a schematic view of a forklift moving a pallet onto the present invention in the third embodiment;

fig. 27 is a schematic view showing a tray placed on the present invention in the third embodiment;

fig. 28 is a schematic diagram of the movement of the present invention in the third embodiment;

fig. 29 is a schematic diagram of the third embodiment of the present invention in which the present invention is moved to a predetermined position;

FIG. 30 is a schematic view of the present invention in a third embodiment for carrying goods;

fig. 31 is a schematic view of the utility model backing to a parking area in the third embodiment;

fig. 32 is a schematic view of a forklift truck according to the third embodiment of the present invention for removing goods from the forklift truck.

Description of reference numerals:

the device comprises a sub-vehicle 1, a vehicle body 11, a top cover 12, a connecting block 13, a power supply hole 14, a driving mechanism 15, a driving motor 16, a linkage shaft 160, a connecting shaft 161, a driving wheel 17, parallel lines 18, a bearing wheel 19, a female seat 2, a parking area 20, a seat body 21, a seat body 210 entering inclined plane, a position limiting part 22, a guide part 220, a line passing hole 23, a position detecting device 24, a buffer 25, a blocking wall 26, a swinging inclined plane 260, a fork groove 261, a protective part 27, anti-skid rubber 28, a magnetic connecting part 29, a power supply module 3, a traction box 31, a box cover 32, a winding mechanism 4, a winding device 41, a traction rope 42, an outer wrapping layer 43, a power supply circuit 44, a steel wire 45, a control device 46, a forklift 5, a.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings:

example one

Referring to fig. 1 to 9, the loading and unloading cargo conveying primary and secondary robot of the present embodiment includes a primary vehicle 1, a primary seat 2, a hoisting mechanism 4 and a control device 46; the sub-vehicle 1 is used for loading and transporting goods; the female seat 2 is provided with a parking area 20 with an opening on the front side, and the child vehicle 1 can selectively enter and exit the parking area 20 from the front part of the parking area 20; the hoisting mechanism 4 is arranged at the rear side of the parking area 20, the hoisting mechanism 4 comprises a hoist 41 and a traction rope 42, one end of the traction rope 42 is connected with the hoist 41, and the other end is connected with the sub-vehicle 1; the control device 46 is used for communicating with the child car 1 and the mother seat 2 to control the child car 1 to exit the parking area 20 and control the winch 41 to start; when the sub-vehicle 1 needs to leave the parking area 20, the control device 46 sends a forward command to the sub-vehicle 1; when the sub-vehicle 1 reaches a designated position, the control device 46 sends a stop instruction to the sub-vehicle 1; when the sub-vehicle 1 needs to enter the parking area 20, the control device 46 controls the winch 41 to recover the traction rope 42, so that the sub-vehicle 1 moves back to the parking area 20.

Referring to fig. 1 to 6, the sub-vehicle 1 includes a vehicle body 11, a control mechanism (not shown in the figures) and a driving mechanism 15, a top cover 12 for placing goods is disposed on the vehicle body 11, the driving mechanism 15 includes a driving motor 16, a driving wheel 17 and a bearing wheel 19, the bearing wheel 19 is provided with a plurality of bearing wheels 19, the plurality of bearing wheels 19 are uniformly disposed at the bottom of the vehicle body 11, the driving wheel 17 is disposed at the bottom of the vehicle body 11, the driving motor 16 is used for driving the driving wheel 17 to rotate, and the control mechanism can control the driving motor 16 to operate according to an instruction of a control device 46; the driving motor 16 is arranged so that when the sub-vehicle 1 advances, the driving motor 16 drives the driving wheel 17 to move; when the sub-vehicle 1 is retreated, the driving motor 16 does not drive the driving wheel 17 to move, and the driving wheel 17 is not influenced to move.

Referring to fig. 1 to 6, a connecting block 13 is arranged at the rear end of the vehicle body 11, and one end of the traction rope 42, which is connected with the sub-vehicle 1, is connected with the connecting block 13; lead to and set up connecting block 13, be convenient for the producer be connected to the haulage rope 42 on the sub-car 1 fast, and through the position of adjustment connecting block 13, can avoid haulage rope 42 to influence sub-car 1 and remove.

Referring to fig. 4 and 6, the power supply line 4 is arranged on the traction rope 42, the power supply line 4 is connected with a power supply, and when the traction rope 42 is connected with the sub-vehicle 1, the power supply line 4 penetrates into the vehicle body 11 and is electrically connected with the driving motor 16.

The power supply can be commercial power or a storage battery, and in this embodiment, the power supply is a built-in battery of the female socket 2.

Through setting up tractive rope and power supply line 4 as an organic whole, on the one hand, can save the trouble that sets up the power on sub-car 1 to reduce sub-car 1's manufacturing cost, and because there is not the power on sub-car 1, alleviateed sub-car 1 weight, thereby prolong the utility model discloses a duration, on the other hand, because tractive rope and power supply line 4 are whole to be set up, can ensure that power supply line 4 moves and swings along with sub-car 1, avoid power supply line 4 to hinder sub-car 1 motion.

Referring to fig. 6, specifically, the traction rope 42 is composed of an outer covering 43, a power supply line 4 and a steel wire 45, the power supply line 4 and the steel wire 45 are arranged in parallel, and the outer covering 43 covers the power supply line 4 and the outer side of the steel wire 45; this arrangement allows the outer covering 43 to protect the power supply wire 4 and the steel wire 45 from being damaged.

Referring to fig. 4 and 6, the connection block 13 is provided with a power supply hole 14 through which the power supply line 4 passes.

Referring to fig. 5, the driving wheel 17 is provided with parallel lines 18; because a plurality of grooves which extend from the front to the rear in parallel are arranged on the bottom surface of the container, the parallel lines 18 are arranged on the driving wheel 17, so that the lines of the driving wheel 17 are matched with the grooves on the bottom surface of the container in the moving process of the driving wheel 17, the driving wheel 17 runs along the extending direction of the grooves according to a straight line track, and the sub-vehicle 1 is prevented from deviating in the walking process.

Referring to fig. 4, the driving wheel 17 is made of a rubber material, and the driving wheel 17 is made of a rubber material, so that an anti-skid effect can be achieved, and the sub-vehicle 1 can be ensured to stably move in a wet and slippery container.

Referring to fig. 4, specifically, two driving wheels 17 are provided, the two driving wheels 17 are connected through a linkage shaft 160, and the driving motor 16 drives the linkage shaft 160 to rotate so as to move the driving wheels 17.

Referring to fig. 4, the carrier wheel 19 is a wide rubber wheel; because the bottom surface of the container is provided with the groove, the bearing wheels 19 adopt a wide rubber wheel structure, so that even if a part of the bearing wheels 19 is arranged in the groove and a part of the bearing wheels is arranged on the groove, the body posture of the sub-vehicle 1 can be kept parallel and cannot incline to any side, and in addition, the wide rubber wheels have good moisture-proof and skid-proof performance in a wet and slippery environment.

Referring to fig. 4, specifically, the bearing wheels 19 are provided in two groups, each group is provided with two bearing wheels 19, and the two bearing wheels 19 in the same group are connected through a connecting shaft 161, which can improve the bearing capacity of the sub-vehicle 1.

An indicating device (not shown in the figure) is arranged on the vehicle body 11, and when goods are placed on the top cover 12, the indicating device gives out light or sound prompt, so that a carrying person can conveniently know the bearing state of the sub-vehicle 1 from a long distance.

Referring to fig. 7 to 9, the female seat 2 includes a seat body 21, the parking area 20 is disposed on the seat body 21, a limiting portion 22 is disposed at the rear portion of the seat body 21, the hoisting mechanism 4 is disposed at the rear side of the limiting portion 22, a line passing hole 23 for a traction rope 42 to pass through is disposed on the limiting portion 22, and the traction rope 42 passes through the line passing hole 23 and is connected to the secondary vehicle 1; female seat 2 adopts above-mentioned mode of setting up, supports on spacing portion 22 after enabling sub-car 1 to retreat to parking area 20 to the initial position when making sub-car 1 remove is the same each time, is convenient for place the goods on sub-car 1.

Referring to fig. 8, specifically, the wire passing hole 23 is a longitudinally-arranged strip-shaped hole, and since the height of one end of the traction rope 42 connected with the sub-vehicle 1 changes along with the movement of the sub-vehicle 1, the wire passing hole 23 can avoid the traction rope 42 from being damaged due to the friction between the traction rope 42 and the inner side edge of the wire passing hole 23 when the traction rope 42 moves up and down.

Referring to fig. 7 to 8, a guide portion 220 is disposed at the front side of the seat body 21, an inclined entrance surface 210 inclined downward from the parking area 20 is disposed on the guide portion 220, and the inclined entrance surface 210 can guide the sub-vehicle 1 to enter the parking area 20 along the direction of the inclined entrance surface 210, and can reduce resistance, vibration and impact when the sub-vehicle 1 goes up and down the female seat 2, thereby improving stability of the sub-vehicle 1 entering and exiting the parking area 20.

Referring to fig. 7 to 8, a position detecting device 24 is disposed on the limiting portion 22, the hoisting mechanism 4 operates according to a detection result of the position detecting device 24, the hoisting mechanism 4 stops working after the tail portion of the sub-vehicle 1 triggers the position detecting device 24, and the situation that the hoisting mechanism 4 continuously pulls the sub-vehicle 1 to cause the sub-vehicle 1 to excessively move backwards after the sub-vehicle 1 moves backwards to a designated position of the parking area 20 can be avoided by disposing the position detecting device 24.

Referring to fig. 7 to 8, a buffer 25 is disposed on the limiting portion 22, and the buffer 25 is a rubber block. Because the son car 1 backs into parking area 20 and is close show when spacing portion 22 that the son car 1 has arrived the extreme position of parking area 20, through setting up bolster 25, can avoid the rear end of son car 1 directly to strike spacing portion 22, and bolster 25 can absorb son car 1 because of inertia is right the impact and the vibration that spacing portion 22 produced, thus it is right spacing portion 22 plays the guard action.

Referring to fig. 7 to 8, two sides of the seat body 21 are provided with blocking walls 26, the two blocking walls 26 are used for limiting the moving ranges of the two sides of the sub-vehicle 1 located in the parking area 20, and by arranging the blocking walls 26, when the sub-vehicle 1 is located in the parking area 20, the blocking walls 26 located at the two sides of the sub-vehicle 1 can limit the two sides of the sub-vehicle 1, so as to ensure that the sub-vehicle 1 enters the designated position of the parking area 20.

Referring to fig. 7 to 8, the blocking wall 26 is provided with a protection member 27 on one side of the parking area 20, the protection member 27 is a rubber block, and since the child car 1 can deviate relative to the parent car 2 due to swinging during moving, in order to avoid rigid collision between the lateral part of the child car 1 and the blocking wall 26 when entering the parking area 20, the two blocking walls 26 are provided with the protection member 27, so that vibration and impact force can be absorbed, the blocking wall 26 and the child car 1 can be protected, and meanwhile, the two blocking walls 26 limit two sides of the child car 1, and the accuracy of positioning of the child car 1 by the parent car 2 can be ensured.

Referring to fig. 7 to 8, the blocking walls 26 on two sides of the guiding portion 220 respectively corresponding to the two sides are provided with a straightening inclined surface 260 inclined to the blocking wall 26; because the sub-vehicle 1 can deviate to the left side or the right side after moving forwards and leaving the parking area 20, the pose of the sub-vehicle 1 is not correct relative to the main seat 2, and the two straightening inclined planes 260 can form a horn-shaped guide structure by arranging the straightening inclined planes 260, when the sub-vehicle 1 retreats and enters the parking area 20, the side part of the sub-vehicle 1 can gradually straighten the pose under the guide of the straightening inclined planes 260, and retreat to a specified position in the parking area 20 to wait for next operation, so that the sub-vehicle 1 is matched with the main seat 2, the sub-vehicle 1 is accommodated by the main seat 2, the positioning speed is high, and the positioning precision is high.

Referring to fig. 8 to 9, a fork slot 261 is formed in the blocking wall 26, the fork slot 261 extends along the length direction of the blocking wall 26, and an external forklift forks the female seat 2 through the fork slot 261; the external forklift 5 inserts the fork arms 51 into the fork grooves 261 of the two blocking walls 26, and then the two sides of the female seat 2 are clamped, and after the external forklift 51 lifts or descends the fork arms 51, the placement or removal of the female seat 2 after transfer can be realized.

Referring to fig. 8 to 9, the bottom of the female seat 2 is provided with an anti-slip rubber 28, when the female seat 2 is placed in a container, the anti-slip rubber 28 contacts the bottom surface of the container, so as to play an anti-slip role, and prevent the child car 1 from impacting the female seat 2 when returning to the parking area 20, and the female seat 2 is displaced under impact.

Referring to fig. 8 to 9, a magnetic connector 29 is disposed at the bottom of the seat 21 or the bottom of the blocking wall 26; the magnetic connecting piece 29 can be a magnet or an electromagnet; the magnetic connecting piece 29 is arranged at the bottom of the seat body 21 or the bottom of the barrier wall 26, so that the bottom of the seat body 21 or the bottom of the barrier wall 26 can be adsorbed on the bottom surface of a container (made of iron), the female seat 2 is stably arranged on the bottom surface of the container, and the female seat 2 is ensured not to move in the operation process.

Referring to fig. 7, be provided with power module 3 on female seat 2, power module 3 is used for providing the electric energy for hoist mechanism 4 and sub-car 1, because hoist mechanism 4 and sub-car 1 use same energy supply system to only need charge to this power module 3, can ensure the normal function of hoist mechanism 4 and sub-car 1, thereby the producer of being convenient for operates, and improves the utility model discloses a charging efficiency.

Referring to fig. 7, the female seat 2 is provided with a traction box 31 corresponding to the hoisting mechanism 4, the traction box 31 is open, the hoisting mechanism 4 is arranged in an inner cavity of the traction box 31, a movable box cover 32 is arranged on the traction box 31, and the box cover 32 detachably covers the open of the traction box 31, so that a manufacturer can maintain the hoisting mechanism 4 and the power supply module 3 conveniently.

The control device 46 may be an automatic sensing device or a manually operated controller.

As a preferable scheme, because the parallel lines on the driving wheels of the sub-vehicle are matched with the grooves on the bottom surface of the container, the driving mechanism 15 of the sub-vehicle 1 can provide assistance when the traction ropes 42 pull the sub-vehicle 1 back, so that the sub-vehicle 1 is accelerated to return to the parking area 20, and the working efficiency is improved.

As an alternative: because a power supply can be arranged in the sub-vehicle, and the parallel lines on the driving wheels of the sub-vehicle are matched with the grooves on the bottom surface of the container, when the sub-vehicle is provided with the power supply, the sub-vehicle can automatically return to a parking area without a traction rope, although the alternative scheme is not shown in the attached drawings of the specification, the alternative scheme also belongs to the protection scope of the patent.

The utility model discloses a control method belongs to prior art's application, the utility model discloses do not relate to control method's improvement.

(1) the utility model discloses simple structure, low cost, installation, control and maintenance are convenient, it mainly includes sub-car 1, female seat 2, hoist mechanism 4 and controlling means 46, adopt the primary and secondary formula structure as the core part of robot, through arranging the utility model discloses a female seat 2 in the afterbody of container, then use controlling means 46 to control sub-car 1 and hoist mechanism 4 work, make sub-car 1 transport the goods at the anterior part of container and rear portion reciprocating motion, utilize sub-car 1 to transport the processing to the goods, and use hoist mechanism 4 to realize that sub-car 1 retrieves, thereby improve production efficiency, and effectively reduce the amount of labour of porter, effectively solve the problem that loading and unloading goods are inefficient, workman intensity of labour is big and manufacturing cost is high, realize automatic warehouse storage and the intelligent transport integration inside the container;

(2) after the traction rope 42 of the hoisting mechanism 4 is connected with the sub-vehicle 1, the movable range of the sub-vehicle 1 in the longitudinal direction can be limited, and after the traction rope 42 is tightened by hoisting, the sub-vehicle 1 can be fixed, so that the sub-vehicle 1 is limited in the parking area 20, and therefore, when the operation is performed at each time, goods are transferred to the sub-vehicle 1 located at the same position of the parking area 20.

Example two

Referring to fig. 10 to 20, the present invention provides an application method of the loading and unloading goods conveying primary and secondary robot, specifically a loading method, including the following steps:

(a1) placing the loading and unloading conveying primary and secondary robots at the tail of the container;

(a2) placing goods 6 on the sub-vehicle 1;

(a3) the control device 46 sends a moving instruction to the sub-vehicle 1;

(a4) the sub-vehicle 1 leaves the parking area 20 and moves towards the front part of the container, and the sub-vehicle 1 pulls the winch 41 to rotate so as to release the traction rope 42;

(a5) when the sub-vehicle 1 reaches a designated position, the control device 46 sends a stop instruction to the sub-vehicle 1;

(a6) transferring the goods 6 on the sub-vehicle 1 into the container;

(a7) the control device 46 sends a work instruction to the winch 41, and the winch 41 recovers the traction rope 42 so that the sub-vehicle 1 moves back to the parking area 20.

Further comprising the step of (a8) repeating steps (a2) to (a7) until all cargo 6 is transferred into the container; to the condition that needs carry goods 6 of many boards tray 7, can realize shifting the paper container from the outside with goods 6 of many boards tray 7 through repeated relevant step in, the operation of being convenient for promotes the ease for use degree.

In the step (a2), the goods 6 are placed on the sub-truck 1 using an automatic/auxiliary carrying apparatus, or the goods 6 are placed on the sub-truck 1 by human power.

In the step (a6), the cargo 6 on the sub-truck 1 is transferred into the container using an automatic/auxiliary handling apparatus, or the cargo 6 on the sub-truck 1 is transferred into the container by human power.

When the goods 6 are transferred using the automatic/auxiliary transferring apparatus in the step (a2) or the step (a6), the efficiency and the degree of intelligence of transferring the goods 6 can be improved, the intervention of manpower can be further reduced, and the production efficiency can be improved.

In the step (a6), after the goods 6 on the sub-vehicle 1 are moved out, the sub-vehicle 1 is provided with a tray 7 for placing the goods 6; in step (a7), after the child car 1 moves back to the parking area 20, the pallet 7 on the child car 1 is removed.

In the case where the lifting of the load 6 of the carrying apparatus is limited, by removing the pallet 7, it is possible to avoid the pallet 7 still placed on the sub-vehicle 1 from interfering with the next round of work after the load 6 is removed.

In the step (a7), after the child car 1 moves back to the parking area 20, the control mechanism of the child car 1 prompts to move out the tray 7, or after the child car 1 moves back to the parking area 20, the worker observes the tray 7 on the child car 1 and moves out the tray 7.

In the process, the loading and unloading goods conveying primary and secondary robots are arranged in the primary seats 2 in the tail parts of the containers and are always positioned at the tail parts of the containers.

EXAMPLE III

Referring to fig. 1 and 19, and fig. 21 to 24, the present embodiment is a modified solution of the second embodiment, and is different from the second embodiment in that: in the step (a6), when N trays 7 are stacked on the sub-vehicle 1, the N trays 7 are removed.

In the step (a6), after the goods 6 on the sub-vehicle 1 are moved out, the sub-vehicle 1 is provided with a tray 7 for placing the goods 6; in the step (a7), after the sub-vehicle 1 moves back to the parking area 20, when the number of the trays 7 is greater than N, the N trays 7 on the sub-vehicle 1 are moved out, wherein N is greater than or equal to 2 and less than or equal to 5.

Specifically, the method for judging the number of the pallets 7 on the sub-vehicle 1 includes the following two methods:

the first method comprises the following steps: when the sub-vehicle 1 reciprocates N times, the control mechanism on the sub-vehicle 1 judges that N trays 7 on the sub-vehicle 1 are stacked, and an indicating device (not shown in the figure) on the sub-vehicle 1 carries out light or sound prompt;

and the second method comprises the following steps: when the sub-vehicle 1 makes N round trips, the worker observes that N pallets 7 are stacked on the sub-vehicle 1.

Through adopting above-mentioned mode of setting up, just remove tray 7 after enabling sub-car 1 transportation N times goods 6 to shorten sub-car 1's latency, and sparingly shift out the cost of tray 7, thereby improve the utility model discloses a rate of utilization improves work efficiency and reduction in production cost.

Example four

Referring to fig. 25 and 32, the present invention provides an application method of the loading and unloading goods conveying primary and secondary robots, specifically an unloading method, including the following steps:

(b1) placing the loading and unloading conveying primary and secondary robots at the tail of the container;

(b2) placing a tray 7 on the sub-vehicle 1;

(b3) the control device 46 sends a moving instruction to the sub-vehicle 1;

(b4) the sub-vehicle 1 leaves the parking area 20 and moves towards the front direction of the container, and the sub-vehicle 1 pulls the windlass 41 to rotate so as to release the traction rope 42;

(b5) when the sub-vehicle 1 reaches a designated position, the control device 46 sends a stop instruction to the sub-vehicle 1;

(b6) transferring the goods 6 in the container to a tray 7 of the sub-vehicle 1;

(b7) the control device 46 sends a working instruction to the winch 41, and the winch 41 recovers the traction rope 42 to enable the sub-vehicle 1 to retreat into the parking area 20; the goods 6 are removed from the sub-vehicle 1 together with the pallet 7.

Further comprising the step (b8) of repeating the steps (b2) to (b7) until all the cargo 6 is transferred out of the container; for the condition that the goods 6 in the container need to be moved out, the multi-plate tray 7 is consumed, the transfer of the goods 6 to the multi-plate tray 7 and the transfer to the outside of the container can be realized by repeating the related steps, the operation is simple, and the execution is convenient.

In the step (b2), the tray 7 is placed on the sub-truck 1 using an automatic/auxiliary carrying apparatus, or the tray 7 is placed on the sub-truck 1 by human power.

In the step (b6), the cargo 6 in the container is transferred to the sub-truck 1 using an automatic/auxiliary handling apparatus, or the cargo 6 in the container is transferred to the sub-truck 1 by human power.

When the cargo 6 is transferred using the automatic/auxiliary transferring apparatus in the step (b2) or the step (b6), the speed and the degree of automation of transferring the cargo 6 can be increased, and the input of labor cost can be further reduced.

The automatic/auxiliary transfer devices of the second to fourth embodiments are prior art devices, such as an AGV full-automatic lifting device, a lifting device, and a forklift, but are not the invention point of the present invention, and no specific description is made here, and in the second to fourth embodiments, the forklift 5 is used outside the container to transfer goods, and the manual power is used inside the container to transfer goods.

Compared with the prior art, the utility model discloses an application method of primary and secondary robot is carried to loading and unloading goods, goods pass through the secondary car and shift between container rear portion and container front portion, realize shifting the goods in the container or shifting out the goods in the container with the goods transfer, reduce the intervention of manpower to reduce human cost's input, reduce porter's the amount of labour, and easy operation, degree of automation and flexibility are high, and it is many to be suitable for the scene, effectively improves cargo handling efficiency.

Variations and modifications to the above-described embodiments may also occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The utility model provides a loading and unloading goods transport primary and secondary robot which characterized in that includes:

a sub-vehicle for loading and transporting goods;

the parking area is provided with a front opening, and the child vehicle can selectively enter and exit the parking area from the front part of the parking area;

the hoisting mechanism is arranged on the rear side of the parking area and comprises a hoist and a traction rope, one end of the traction rope is connected with the hoist, and the other end of the traction rope is connected with the sub-vehicle;

and the control device is used for communicating with the sub-vehicle and the main seat so as to control the sub-vehicle to exit the parking area and control the winch to start.

2. The primary and secondary robot for loading and unloading goods as claimed in claim 1, wherein the secondary robot comprises a body, a control mechanism and a driving mechanism, the body is provided with a top cover for placing goods, the driving mechanism comprises a driving motor, a driving wheel and a bearing wheel, the bearing wheel is provided with a plurality of bearing wheels, the bearing wheels are uniformly arranged at the bottom of the body, the driving wheel is arranged at the bottom of the body, the driving motor is used for driving the driving wheel to rotate, and the control mechanism can control the driving motor to work according to instructions of a control device.

3. The primary and secondary loading and unloading goods conveying robot as claimed in claim 2, wherein the traction rope is provided with a power supply line, the power supply line is connected with a power supply source, and when the traction rope is connected with the primary and secondary loading and unloading goods conveying robots, the power supply line penetrates into the vehicle body and is electrically connected with the driving motor.

4. A loading/unloading/transporting robot as claimed in any one of claims 2 to 3, wherein the driving wheels are provided with parallel lines.

5. The primary and secondary loading and unloading cargo conveying robot according to claim 1, wherein the primary base comprises a base body, the parking area is arranged on the base body, a limiting portion is arranged at the rear portion of the base body, the hoisting mechanism is arranged at the rear side of the limiting portion, a line passing hole for a traction rope to pass through is formed in the limiting portion, and the traction rope passes through the line passing hole and is connected with the secondary vehicle.

6. The loading/unloading cargo conveying parent/child robot according to claim 5, wherein a guide portion is provided on a front side of the base body, and an entrance slope inclined downward from a parking area is provided on the guide portion.

7. The primary and secondary robot for transporting loading and unloading cargo of claim 6, wherein two sides of the base are provided with blocking walls for limiting the range of motion of two sides of the secondary vehicle located in the parking area.

8. The loading/unloading cargo conveying parent/child robot according to claim 7, wherein the blocking walls on both sides of the guide portion corresponding to the respective sides are provided with a straightening slope inclined toward the blocking walls.

9. A loading and unloading goods conveying primary and secondary robot according to claim 7, wherein fork grooves are formed in the blocking wall, the fork grooves extend along the length direction of the blocking wall, and an external forklift forks the primary seat through the fork grooves.

10. The primary and secondary loading and unloading goods conveying robot as claimed in claim 1, wherein the primary seat is provided with a power supply module, and the power supply module is used for supplying power to the hoisting mechanism and the secondary vehicle.