CN214268908U - Automatic cargo handling system of quick-open type side curtain box - Google Patents

Abstract

The utility model provides an automatic cargo handling system of a quick-opening side curtain box, which comprises a feeding mechanism, two conveying devices, an alarm device and a controller; the bar code strip shaping device also comprises a first detection device, a scanning device, a bar code strip and a shaping system; two second risers through plastic system are synchronous in opposite directions or deviate from the motion, and then drive whole embrace and press from both sides the correction piece and be and carry out the synchronous motion that opens and shuts to it is rotatory through the first riser, push away the goods in step in four sides just, with piling up the more square of correction of goods, and through the unified benchmark in position of positioning mechanism with the tray, the follow-up dress goods of being convenient for. After the goods are shaped, the tray and the goods are conveyed to a preset station through the conveying device, then the feeding mechanism scans the bar codes on the bar code belt through the scanning device, and therefore the feeding mechanism is parked at the preset station and finally the goods are loaded. Set up predetermined station through the bar code brings, and the installation is simple and convenient, need not the cable, and whole conveyor structure is simpler.

Description

Automatic cargo handling system of quick-open type side curtain box

Technical Field

The utility model relates to a container cargo handling technical field, especially a goods automatic handling system of quick-open side curtain case.

Background

The applicant simultaneously filed 2019.9.16 for inventions and utility model patents: the invention discloses a cargo handling system of a quick-opening side curtain box, wherein the application number is 201910870998.3, the publication number is CN110697625A, and the cargo handling system realizes automatic cargo handling, improves cargo handling efficiency and reduces labor cost.

However, in the specific implementation, the following disadvantages are found:

one, each predetermined station is carried to the goods, feed mechanism detects the location through the sensor on the response conveyor, stop feed mechanism at the station that corresponds and carry out the material loading, because in the in-service use process, the motorcycle type of transportation goods is various, the length of container and whole car all has various sizes, consequently, in order to adapt to the goods handling of different motorcycle types, need set up different sensors according to the container of different motorcycle types and whole car length and correspond different stations, and just so lead to setting up a lot of sensors, the cable is very many on the one hand, during whole equipment assembly, arrangement cable consumes a large amount of man-hours, and the sensor is plentiful, fixing device that need set up a lot of different structures supports fixedly, lead to whole conveyor's structure to become very complicated.

Two ends of the roller on the conveying device are fixed on the two sides of the top of the feeding support frame to support the inside of the pipe, and in the actual use, the roller is found to be worn, damaged and the like in the continuous goods loading and unloading process after being used for a long time, so that the roller needs to be maintained. When the existing structure is maintained, the damaged roller can be replaced only by completely disassembling the supporting pipes on the two sides of the top of the feeding support frame, and the roller without damage is also disassembled, so that a large amount of working hours are required when the roller is reassembled in the later period; or adopting another maintenance mode: i.e. the entire conveying unit corresponding to the damaged roller is replaced, which leads to a considerable increase in maintenance costs.

Thirdly, when the truck backs a car and enters a truck parking area between the conveying devices on the two sides, due to the fact that goods are automatically loaded and unloaded, the requirement on the accuracy of a parking position is high, the backing technical requirement on a driver is high, and in practical use, the driver is difficult to operate and wastes time.

And fourthly, the rail wheel moves in a running mode that the rail wheel rolls on the rail. And because the manufacturing and assembly process all have the error, there is the clearance between rail wheel and the track, can take place to rock at the operation process, and lead to the rail wheel to have the condition emergence of derailing, have the potential safety hazard.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in providing a goods automatic handling system of quick-open side curtain case, sets up the bar code area in one side of conveyor, brings through the bar code and sets up predetermined station, and the installation is simple and convenient, need not the cable, and whole conveyor structure is simpler.

The utility model discloses a realize like this: an automatic cargo handling system of a quick-opening side curtain box comprises a feeding mechanism, two conveying devices, an alarm device and a controller; the two conveying devices are arranged in parallel along the X axis; the feeding mechanism comprises two X-axis moving modules, a feeding support frame, two Y-axis moving modules, two Z-axis moving modules and two forks; the two X-axis moving modules are symmetrically and fixedly connected to the feeding support frame; the two Y-axis moving modules are symmetrical and movably connected to the feeding support frame; the two Z-axis moving modules correspond to each other one by one and are symmetrically connected with the two Y-axis moving modules; the two forks are connected to the two Z-axis moving modules in a one-to-one correspondence manner and are symmetrically arranged in opposite directions; the controller is respectively in communication connection with the two X-axis moving modules, the two Y-axis moving modules, the two Z-axis moving modules, the alarm device and the two conveying devices;

also comprises

The first detection device is fixedly connected to the feeding support frame and is obliquely arranged downwards and inwards; the first detection device is also in communication connection with the controller and is used for detecting whether articles exist in the container, the height of the container and the parking position of the container or the truck;

the scanning device is fixedly connected to the feeding support frame and is in communication connection with the controller;

the bar code belt is fixedly connected to the outer side surface of the conveying device and arranged opposite to the scanning device;

the shaping system comprises two shaping systems, wherein each shaping system comprises two clamping correction pieces, a positioning mechanism, a shaping support frame, a first position detection device and a pushing mechanism;

wherein:

each clamping correction piece comprises two first vertical plates and a second vertical plate; the inner side surface of each first vertical plate is a first vertical correction plane; the inner side surface of the second vertical plate is a second vertical correction plane; the two first vertical plates are connected to the second vertical plate in a synchronous rotating mode around a vertical axis and are symmetrically arranged;

the positioning mechanism comprises a first limiting piece, a first lifter, a positioning driving device, a first conveying unit and a second limiting piece; the first limiting piece is connected to the first lifter and arranged on the first conveying unit along the transverse direction; the second limiting piece is arranged on the side edge of the first conveying unit along the longitudinal direction; the first elevator is communicatively connected to the controller;

the first position detection device is fixedly connected to the first conveying unit and is in communication connection with the controller;

the shaping support frame is provided with a cavity with two open ends;

the pushing mechanism is fixedly connected to the shaping support frame;

the positioning mechanism is arranged in the cavity; the first conveying unit is spliced at the front end of the conveying device, and the top surfaces of the first conveying unit and the conveying device are arranged at the same height;

the positioning driving device is fixedly connected to the shaping support frame, arranged along the transverse direction and faces the second limiting piece;

the two holding and clamping correction pieces are symmetrically arranged in opposite directions, and the two second vertical plates are connected to the shaping support frame in a sliding mode along the transverse synchronous opposite direction or synchronous deviation and are located in the cavity.

Further, each of the X-axis moving modules includes

The wheel seat is fixedly connected with the feeding support frame;

the driving rail wheel is rotationally connected to the wheel seat, and the rotation axis of the driving rail wheel is horizontally vertical to the X axis;

the output shaft of the first driving motor is fixedly connected with the driving rail wheel, and the first driving motor is arranged on the wheel seat;

a rail disposed along an X-axis; the driving rail wheel is connected to the rail in a rolling manner;

a driven rail wheel, which is connected on the rail in a rolling way and is rotationally connected with the wheel seat, and the rotation axis of the driven rail wheel is horizontally vertical to the X axis;

two vertical limiting rods are arranged; the two vertical limiting rods are fixedly connected to the wheel seat, and the bottom ends of the two vertical limiting rods are also positioned below the driving track wheel and positioned at two sides of the track;

the limiting wheels are connected to the bottom of the vertical limiting rod in a one-to-one corresponding mode, the rotating shaft is vertically arranged, and the limiting wheels are connected into the grooves in the left side and the right side of the track in a one-to-one corresponding mode.

Furthermore, each X-axis moving module also comprises two first ejector rods, two second ejector rods and two supports;

the first ejector rods are fixedly connected to the support in a one-to-one correspondence manner;

the wheel seat is respectively provided with the support saddle along the front and back directions of the X-axis direction, and the two first ejector rods are arranged oppositely;

the front end surface and the rear end surface of the wheel seat along the X-axis direction are respectively and fixedly connected with the second ejector rods, and the two second ejector rods are arranged in a reverse direction;

the first ejector rods and the second ejector rods are in one-to-one correspondence, coaxial and opposite and are arranged along the X axis.

Further, also includes

The number of the limiting guide parts is two, and each limiting guide part comprises a linear part; the front end of the straight line part is provided with an oblique part; the two inclined parts are flared outwards; the two limiting guide pieces are arranged between the two conveying devices;

and a rear stopper disposed behind the linear portion.

Further, each of the clasping correction pieces further comprises at least one pair of first actuating elements; each of the first actuators is communicatively coupled to the controller;

in each pair, one first execution element is fixedly connected to the outer side face of the second vertical plate, and the output end of the first execution element is connected to the outer side face of the first vertical plate;

the other first executing element is fixedly connected to the outer side face of the second vertical plate, and an output shaft of the other first executing element is connected to the outer side face of the other first vertical plate;

the projections of the two first actuators in the vertical direction are symmetrically arranged along the midline of the second vertical plate.

Further, each said clasping corrector further comprises

A top plate; the top plate is fixedly connected to the top end of the second vertical plate;

a first sliding group connected to the top plate and the truing support;

the bottom plate is fixedly connected to the bottom end of the second vertical plate;

a second sliding group connected to the base plate and the sizing support frame.

Further, the plastic support frame comprises

The horizontal frame is provided with one, and the two first sliding groups are connected to the horizontal frame;

the two vertical frames are fixedly connected to the bottom end of the horizontal frame and are symmetrically arranged;

the two bottom supports are fixedly connected to the inner side surface of the bottom of the vertical frame in a one-to-one correspondence manner; the second sliding groups are connected to the bottom bracket in a one-to-one correspondence manner.

Further, the pushing mechanism comprises at least one pair of second actuators; each second actuator is communicatively coupled to the controller;

in each pair, the two second executing elements are symmetrically and fixedly connected to the inner side face of the shaping supporting frame and located in the cavity, the output ends are transversely arranged and connected to the outer side face of the second vertical plate in a one-to-one correspondence mode, and the axis of the output end and the vertical center line of the second vertical plate are located in the same vertical plane.

Furthermore, the positioning driving device comprises two third execution elements and a push rod; each of the third actuators is communicatively coupled to the controller; the two third executing elements are fixedly connected to the shaping supporting frame, and the output ends of the third executing elements are arranged along the transverse direction; the push rod is fixedly connected to the output ends of the two third execution elements and is arranged along the longitudinal direction.

Further, the first conveying unit comprises a conveying driving mechanism, a conveying frame, a plurality of roller clamping pieces and a plurality of rollers;

the top of each roller clamping piece is downwards provided with a first clamping groove; the number of the roller clamping pieces is 2 times that of the rollers; two ends of the roller are respectively embedded into the first clamping groove of the roller clamping piece;

each roller fastener is connected to the conveying frame, and the rollers are arranged in parallel at equal intervals;

the driving mechanism is fixedly connected to the conveying frame; the driving mechanism is in communication connection with the controller and drives all the rollers to synchronously rotate.

The utility model has the advantages of as follows: an automatic cargo handling system of a quick-opening side curtain box comprises a feeding mechanism, two conveying devices, an alarm device and a controller; the bar code strip shaping device also comprises a first detection device, a scanning device, a bar code strip and a shaping system; two second risers through plastic system are synchronous in opposite directions or deviate from the motion, and then drive whole embrace and press from both sides the correction piece and be and carry out the synchronous motion that opens and shuts to it is rotatory through the first riser, push away the goods in step in four sides just, with piling up the more square of correction of goods, and through the unified benchmark in position of positioning mechanism with the tray, the follow-up dress goods of being convenient for. After the goods are shaped, the tray and the goods are conveyed to a preset station through the conveying device, then the feeding mechanism scans the bar codes on the bar code belt through the scanning device, and therefore the feeding mechanism is parked at the preset station and finally the goods are loaded. Set up predetermined station through the bar code brings, and the installation is simple and convenient, need not the cable, and whole conveyor structure is simpler.

Drawings

The invention will be further described with reference to the following examples with reference to the accompanying drawings.

Fig. 1 and 2 are perspective views of the automatic cargo handling system according to the present invention.

Fig. 3 is a front view of the automatic cargo handling system according to the present invention.

Fig. 4 is a sectional view a-a in fig. 3.

Fig. 5 is a sectional view B-B in fig. 3.

Fig. 6 is a side view of the automatic cargo handling system according to the present invention.

Fig. 7 is a cross-sectional view taken along line C-C of fig. 6.

Fig. 8 is a partially enlarged schematic view of F in fig. 6.

Fig. 9 and 10 are perspective views of the reshaping system according to the present invention.

Fig. 11 is a front view of the reshaping system of the present invention.

Fig. 12 is a side view of a reshaping system according to the present invention.

Fig. 13 is a top view of a reshaping system according to the present invention.

Fig. 14 is a rear view of the clasping correction member of the present invention.

Fig. 15 is a front view of the clasping correction member of the present invention.

Fig. 16 and 17 are perspective views of the clasping correction piece of the present invention.

Fig. 18 is a perspective view of the positioning mechanism of the present invention positioning the tray.

Fig. 19 is a front view of the positioning mechanism of the present invention positioning the tray.

Fig. 20 is a cross-sectional view taken along line D-D in fig. 19.

Fig. 21 is a perspective view of the shaping system of the present invention for shaping goods.

Fig. 22 is a front view of the shaping system of the present invention shaping goods.

Fig. 23 is a perspective view of the feeding support frame of the present invention.

Fig. 24 is a rear view of the feeding support frame of the present invention.

Fig. 25 is a side view of the feeding support frame of the present invention.

Fig. 26 is a partially enlarged schematic view of E in fig. 1.

Fig. 27 is a front view of the first conveying unit with one of the rollers exploded.

Fig. 28 is an exploded side view of one of the rollers of the first conveyor unit according to the present invention.

Fig. 29 is a top view of the first conveying unit according to the present invention after one of the rollers is disassembled.

Fig. 30 is a perspective view of the first conveying unit of the present invention after one of the rollers is disassembled.

Fig. 31 is a perspective view of the first conveying unit according to the present invention.

Fig. 32 is a schematic view of the arrangement of the synchronizing gears according to the present invention.

Fig. 33 is a control schematic block diagram of the automatic cargo handling system according to the present invention.

Description of reference numerals:

the automatic feeding device comprises a feeding mechanism 1, an X-axis moving module 11, a wheel seat 111, a driving rail wheel 112, a first driving motor 113, a track 114, a driven rail wheel 115, a vertical limiting rod 116, a limiting wheel 117, a first ejector rod 118, a second ejector rod 119, a support 1110, a feeding support frame 12, a Y-axis moving module 13, a Z-axis moving module 14 and a pallet fork 15;

the conveying device (2) is arranged on the conveying device,

an alarm device 3;

truck 4, container 41;

a first detection device 5;

a scanning device 6;

barcode strip 7, barcode 71;

the shaping system 8, the clasping correcting piece 81, a first vertical plate 811, a first vertical correcting plane 8111, a second vertical plate 812, a second vertical correcting plane 8121, a first actuating element 813, a top plate 814, a guide module 8141, a vertical shaft 81411, a second bearing 81412, a support frame 81413, a first sliding set 815, a support base 8151, a rotating shaft 8152, a first bearing 8153, a bottom plate 816, a second sliding set 817, a positioning mechanism 82, a first limiting piece 821, a first lifter 822, a positioning driving device 823, a third actuating element 8231, a push rod 8232, a first conveying unit 824, a conveying driving mechanism 8241, a motor 82411, a synchronizing gear 82412, a driving gear 82413, a first chain 82414, a second chain 82415, a conveying frame 8242, a horizontal supporting rod 82421, a second clamping groove 824211, a screw hole 824212, a shaping roller 8243, a first clamping groove 82431, a clamping block 82432, a roller 8244, a second limiting piece 825, a connecting piece 826, a bolt 827, a supporting frame 83, a cavity 831, a horizontal frame 832, a vertical frame 833, a bottom bracket 834, a first position detection device 84, a pushing mechanism 85, a second execution element 851;

a rear stopper 9;

a limit guide 10;

a second detection device 20.

Detailed Description

The design concept of the utility model is that:

(1) set up shaping system 8, through two second risers 812 synchronous in opposite directions or deviate from the motion, and then drive whole armful clamp correction piece 81 and be and carry out the synchronous motion that opens and shuts to it is rotatory through first riser 811, push away the goods in four sides in step, with the more square of the pile up correction of goods, and through the unified benchmark in position of positioning mechanism with the tray, the subsequent goods handling of being convenient for.

(2) Set up bar code area 7 in one side of conveyor 2, set up predetermined station through bar code area 7, the installation is simple and convenient, need not the cable, and whole conveyor structure is simpler.

(3) The two vertical limiting rods 116 limit the two sides of the track 114, so that derailment in the Y-axis direction is prevented; in the embodiment shown in the drawings, the two X-axis moving modules 11 are symmetrically arranged at the bottom of the feeding support frame 12, and the two X-axis moving modules 11 can be mutually limited to further prevent derailment.

(4) The limiting wheel 117 is arranged to form a hook shape with the vertical limiting rod 116, so as to prevent the occurrence of side turning, that is, on two sides of one rail 114, one side of the rail 114 is hooked by the limiting wheel 117, and the other side of the rail 114 is supported by the limiting wheel 117, so as to prevent the occurrence of side turning. In the drawing, two symmetrically arranged rails 114 are provided with two X-axis moving modules 11, so that the limiting wheel 117 on one rail 114 can also limit the driving rail wheel 112 on the other rail 114, and further prevent the side turning.

(5) The first ejector rod 118 and the second ejector rod 119 which are coaxially and oppositely arranged are arranged on the front side and the rear side of the feeding support frame 12 respectively, so that when the first driving motor 113 fails or other parts fail, and the feeding mechanism 1 is caused to move out of control in the X-axis direction, the first ejector rod 118 can be used for ejecting the second ejector rod 119, the feeding support frame 12 is ejected to be limited, and derailment accidents in the X-axis direction are avoided.

(6) Conveyor 2 and first conveying unit 824 adopt the same structure, conveyor 2 is by a plurality of sections the second conveying unit concatenation forms, also establishes on the second conveying unit first lift 822 and first locating part 821 to stop the tray and carry out the shipment at predetermined station, roller 8244 inlays on roller fastener 8243, roller fastener 8243 then connects on carriage 8242, thereby damage the back at roller 8244, can directly with roller 8244 follow roller fastener 8243 on dismantle take out can, need not to dismantle whole carriage 8242 or replacement first conveying unit 824, it is more convenient to maintain, reduces maintenance man-hour, reduces cost of maintenance.

Please refer to fig. 1 to 33. In the embodiment shown in fig. 1 to 8, the Z-axis moving module 14 adopts a hydraulic cylinder structure to realize lifting; in the embodiment shown in fig. 23 to 25, the Z-axis moving module 14 is configured to be lifted by pulling a chain with a winch.

Example (b):

wherein, the truck 4 is provided with a container 41; the container 41 is a quick-opening side curtain box; the length direction of the container 41 and the length direction of the conveying device 2 are arranged in parallel, and the conveying device 2 is positioned outside the container 41; the truck 4 is stopped in a predetermined parking area between the two conveyors 2;

an automatic cargo handling system of a quick-opening side curtain box comprises a feeding mechanism 1, two conveying devices 2, an alarm device 3 and a controller; the two conveying devices 2 are arranged in parallel along the X axis; the feeding mechanism 1 comprises two X-axis moving modules 11, a feeding support frame 12, two Y-axis moving modules 13, two Z-axis moving modules 14 and two forks 15; the two X-axis moving modules 11 are symmetrically and fixedly connected to the feeding support frame 12; the two Y-axis moving modules 13 are symmetrically and movably connected to the feeding support frame 12; the two Z-axis moving modules 14 are in one-to-one correspondence and are symmetrically connected to the two Y-axis moving modules 13; the two forks 15 are correspondingly connected to the two Z-axis moving modules 14 one by one and symmetrically arranged in opposite directions; the controller is respectively in communication connection with the two X-axis moving modules 11, the two Y-axis moving modules 13, the two Z-axis moving modules 14, the alarm device 3 and the two conveying devices 2; in a specific implementation, the Y-axis moving module 13 may adopt a motor-gear rack structure to realize Y-axis movement, or adopt an existing motor-screw-nut structure; the Z-axis moving module 14 may also adopt a lifting structure such as a hydraulic cylinder, a motor-screw rod-nut, or a winch, and the Y-axis moving module 13 and the Z-axis moving module 14 are conventional devices, and can be purchased directly from the market, for example, a Y-axis moving sliding table and a Z-axis moving sliding table are adopted, and these are standard components.

Also comprises

The first detection device 5 is fixedly connected to the feeding support frame 12, is obliquely arranged downwards and inwards, and faces the side face of the container 41; the first detection device 5 is also communicatively connected to the controller and is used for detecting whether there are any articles in the container 41, the height of the container 41, and the parking position of the container 41 or the truck 4; in a specific implementation, the first detection device 5 may employ a laser radar, model: the mock lms 511.

The scanning device 6 is fixedly connected to the feeding support frame 12 and is in communication connection with the controller; the scanning device 6 may adopt a scanning device such as a code scanning gun and a code scanner.

The bar code belt 7 is fixedly connected to the outer side surface of the conveying device 2 and is arranged opposite to the scanning device 6; in a specific implementation, the bar code strip 7 can be manufactured by printing a plurality of bar codes 71 on a base tape in a simple and convenient way; it is also possible to use separate bar codes 71, one attached along the length of the conveyor, to form the bar code strip 7, although this is a cumbersome operation and other embodiments are possible. When the automatic loading and unloading device is used, the position information corresponding to the bar code strip 7 can be preset, so that the scanning device 6 on the loading mechanism 1 only needs to scan the corresponding position information and feed back the position information to the controller, and the controller can control the X-axis moving module 11 to stop the loading mechanism 1 at a preset station to load and unload goods. Because bar code strip 7 does not have the cable, consequently installs during conveyor 2, need not to arrange in order the cable of original sensor, this greatly reduced installation time, and support fixing device significantly reduced, whole conveyor 2's structure is also simpler.

The number of the shaping systems 8 is two, and each shaping system 8 comprises two clamping correction pieces 81, a positioning mechanism 82, a shaping support frame 83, a first position detection device 84 and a pushing mechanism 85;

wherein:

each clasping corrector 81 comprises two first vertical plates 811 and a second vertical plate 812; the inner side surface of each first riser 811 is a first vertical correction plane 8111; the inner side of the second riser 812 is a second vertical correction plane 8121; the two first vertical plates 811 are connected to the second vertical plate 812 in a manner of synchronously rotating around a vertical axis and are symmetrically arranged;

the positioning mechanism 82 includes a first stopper 821, a first lifter 822, a positioning driving device 823, a first conveying unit 824, and a second stopper 825; the first limiting member 821 is connected to the first lifter 822, and the first limiting member 821 is transversely disposed on the first conveying unit 824; the second stoppers 825 are disposed at the side of the first conveying unit 824 along the longitudinal direction; the first lift 822 is communicatively coupled to the controller;

the first position detecting device 84 is fixedly connected to the first transporting unit 824 and is communicatively connected to the controller; in a specific implementation, the first position detecting device 84 may employ a proximity sensor, a travel switch, or other sensors.

The shaping support frame 83 is provided with a cavity 831 with two open ends;

the pushing mechanism 85 is fixedly connected to the shaping support frame 83;

the positioning mechanism 82 is disposed in the cavity 831; the first conveying unit 824 is spliced at the front end of the conveying device 2, and the top surfaces of the first conveying unit 824 and the conveying device 2 are arranged at the same height;

the positioning driving device 823 is fixedly connected to the shaping supporting frame 83, and is arranged along the transverse direction and faces the second limiting member 825;

the two clasping correction pieces 81 are symmetrically arranged in opposite directions, and the two second vertical plates 812 are connected to the shaping support frame 83 in a sliding manner along the transverse direction in a synchronous opposite direction or in a synchronous departing manner, and are located in the cavity 831.

Through two second risers 812 synchronous in opposite directions or deviate from the motion, and then drive whole armful clamp correction piece 81 and be and carry out the synchronous motion that opens and shuts to it is rotatory through first riser 811, push away the goods in step in four sides just, with the more square of piling up the correction of goods, and through the unified benchmark in position of positioning mechanism 82 with the tray, the follow-up goods handling of being convenient for.

Each of the X-axis moving modules 11 includes

The wheel seat 111 is fixedly connected to the feeding support frame 12;

a driving rail wheel 112 rotatably connected to the wheel base 111 and having a rotation axis horizontal to the X-axis;

a first driving motor 113, an output shaft of which is fixedly connected to the driving rail wheel 112, and the first driving motor 113 is installed on the wheel seat 111;

a rail 114, the rail 114 disposed along an X-axis; the active track wheels 112 are rollingly connected to the track 114;

a driven rail wheel 115, which is connected to the rail 114 in a rolling manner and is rotatably connected to the wheel base 111, and the rotation axis is horizontal and vertical to the X axis;

two vertical limiting rods 116 are provided; the two vertical limiting rods 116 are fixedly connected to the wheel seat 111, and the bottom ends of the two vertical limiting rods 116 are also located below the driving rail wheel 112 and at two sides of the rail 114; therefore, the vertical limiting rods 116 limit the position of the two sides of the track 114, and derailment accidents in the Y-axis direction are avoided. In the embodiment shown in the drawings, there are two X-axis moving modules 11, which are symmetrically arranged, so that the X-axis moving modules 11 can limit the vertical limiting rods 116 of the X-axis moving modules 11 by using the vertical limiting rods 116 of the X-axis moving modules 11 symmetrically arranged on the other side, thereby further improving the limiting effect and avoiding derailment accidents.

The number of the limiting wheels 117 is two, the limiting wheels 117 are rotationally connected to the bottom of the vertical limiting rod 116 in a one-to-one correspondence manner, the rotating shaft is vertically arranged, and the limiting wheels 117 are correspondingly rolled into the grooves in the left side and the right side of the track 114 in a one-to-one correspondence manner. One side of the rail 114 is hooked by one of the limiting wheels 117, and the other side of the rail is supported by the limiting wheel 117, so that the driving rail wheel 112 is prevented from rolling over. In the implementation shown in the drawing, two tracks 114 are symmetrically arranged, and two X-axis moving modules 11 are symmetrically arranged on the two tracks 114, so that the X-axis moving modules 11 are limited with each other, the safety is further improved, and the occurrence of side turning is avoided.

Each X-axis moving module 11 further includes two first lift pins 118, two second lift pins 119, and two supports 1110;

the first push rods 118 are fixedly connected to the support 1110 in a one-to-one correspondence manner;

the wheel seat 111 is respectively provided with the support 1110 along the front and rear direction of the X-axis direction, and the two first push rods 118 are arranged oppositely;

the front end surface and the rear end surface of the wheel seat 111 along the X-axis direction are respectively and fixedly connected with the second ejector rods 119, and the two second ejector rods 119 are arranged in a reverse direction;

the first top rods 118 and the second top rods 119 are arranged along the X axis in a one-to-one correspondence coaxial opposite direction.

Through setting up in the X axle direction first ejector pin 118 fixed connection second ejector pin 119 is in wheel seat 111, when breaking down out of control, through first ejector pin 118 supports second ejector pin 119, thereby will wheel seat 111 supports, and then will material loading support frame 12 is spacing, will be about to feed mechanism 1 carry on spacingly, avoid taking place the derailment accident, further improve the security performance.

Also comprises

Two limit guides 10, each of the limit guides 10 includes a linear portion 101; the front end of the straight line part 101 is provided with an oblique part 102; the two inclined parts 102 are flared outwards; the two limiting guide parts 10 are arranged between the two conveying devices 2; in a specific implementation, the two limit guides 10 are symmetrically arranged on two sides of the truck 4, wherein the straight line part 101 is located on the outer side of the wheel of the truck 4; the two inclined portions 102 are flared outwards, and the inclined portions 102 are located at one end close to the head of the truck 4.

And a rear stopper 9 provided behind the linear portion 101. In the specific implementation the rear stop 9 bears against the rear wheel of the truck 4; the rear limiting part 9 can adopt an integrated cross rod to block the rear wheel of the limiting truck 4 or can also adopt an embodiment shown in the attached drawing, the rear limiting part 9 adopts two split limiting blocks, an arc-shaped surface is arranged at one end of each limiting block facing the rear wheel of the truck 4, and the arc-shaped surface is attached to the rear wheel of the truck 4, so that the rear wheel of the truck 4 is limited. Of course, in other embodiments, other configurations may be used.

The tire of the truck 4 is limited at the rear end by the rear limiting piece 9, and the tire of the truck 4 is limited and guided at two sides by the two limiting guide pieces 10, so that the backing efficiency is improved, and the operation difficulty is reduced. I.e. during reversing, the tyres of the truck 4 are pressed back into the predetermined parking areas by said stop guides 10 on both sides. In a specific implementation, the distance between the two limit guides 10 is equal to the width of the theoretical parking area plus an allowable offset error, that is, the parking area is predetermined in the width direction. The same applies to the position of the rear stop 9, so that a predetermined parking space is formed by the rear stop 9 and the two stop guides 10.

In a specific implementation, the height of the rear stopper 9 and the two stopper guides 10 is higher than the bottom surface of the tire, and may be set according to the vehicle type actually used, for example, the height may be 300mm to 400mm, or in other embodiments, other heights may also be used.

Each of the clasping correction members 81 further comprises at least one pair of first actuating elements 813; each of the first actuators 813 is communicatively coupled to the controller;

in each pair, one of the first actuators 813 is fixedly connected to the outer side of the second riser 812, and the output end of the first actuator is connected to the outer side of the first riser 811;

the other first actuator 813 is fixedly connected to the outer side surface of the second vertical plate 812, and the output shaft of the other first actuator is connected to the outer side surface of the other first vertical plate 811;

the projections of the two first actuators 813 in the vertical direction are arranged symmetrically with respect to the center line of the second riser 812.

In a specific embodiment, the first actuator 813 is a hydraulic cylinder, a piston rod of the first actuator 813 is locked on the outer side surface of the first vertical plate 811 through a bolt, a cylinder body of the first actuator 813 is also locked on the outer side surface of the second vertical plate 812 through a bolt, and both the cylinder body and the piston rod can rotate around the bolt to realize articulation so as to drive the first vertical plate 811 to rotate.

In the embodiment shown in the drawings, each of the clasping correction members 81 has two pairs of the first actuators 813; two pairs of the first actuators 813 are arranged up and down, so that the pushing force is larger, and when the first vertical plate 811 is pushed to rotate, the pushing force is more stable.

Each of the clasping and clamping correction pieces 81 further comprises

A top plate 814; the top plate 814 is fixedly connected to the top end of the second vertical plate 812;

a first sliding group 815, said first sliding group 815 being connected to said top plate 814 and said truing support 83;

a bottom plate 816, wherein the bottom plate 816 is fixedly connected to the bottom end of the second vertical plate 812;

a second sliding group 817, the second sliding group 817 being connected to the bottom plate 816 and the shaping support frame 83.

In specific implementations, the first sliding group 815 and the second sliding group 817 can both adopt a structure of a sliding rail and a sliding block, or a structure of a roller and a track.

For example, the embodiment shown in the drawings can also be adopted, as shown in fig. 16, the first sliding set 815 includes two supporting seats 8151, a rotating shaft 8152 and two first bearings 8153, the rotating shaft is locked on the two supporting seats 8151 by screws, the two first bearings 8153 are nested on the rotating shaft 8152, wherein four first sliding sets 815 are arranged on the top surface of the top plate 814 in a rectangular shape, the first bearings 8153 of the four first sliding sets 815 are hung on a transverse pipe of the horizontal frame 832, and the bearings 8153 roll along the transverse pipe, so that the second vertical plate 812 moves along the transverse direction;

four first sliding groups 815 are also symmetrically arranged on the side surface of the top plate 814, and the first bearings 8153 of the four first sliding groups 815 roll on the bottom of the transverse pipe. In order to facilitate the rolling of the first bearing 8153, flat strips are arranged on the top surface and the bottom surface of the transverse tube, and the first bearing rolls on the surfaces of the flat strips.

In order to enable the second vertical plate 812 to roll along the transverse pipe in a more accurate direction, a guide module 8141 is further arranged on the top plate 814, the guide module 8141 is arranged on the side face of the transverse pipe, the guide module 8141 comprises a vertical shaft 81411, a second bearing 81412 and a support frame 81413, the vertical shaft 81411 is fixed in the support frame 81413, the second bearing 81412 is nested on the vertical shaft 81411, and the second bearing 81412 protrudes out of the support frame 81413, so that the guide module can contact with the side face of the transverse pipe, roll along the side face of the transverse pipe, guide and limit the transverse rolling direction, and ensure the movement accuracy.

The second sliding group 817 also has the same structure as the first sliding group 815, that is, comprises two supporting seats 8151, a rotating shaft 8152 and two first bearings 8153, the first bearings roll along the top surface of the bottom bracket 834, and in order to ensure the movement precision, a guide module 8141 which is the same as the first sliding group 815 is also arranged on the side surface of the transverse pipe of the bottom support. The second riser 812 is supported by the second sliding set 817 without interfering with lateral movement of the second riser 812.

The reshaping supporting frame 83 comprises

A horizontal frame 832 having one, two first sliding groups 815 connected to the horizontal frame 832;

two vertical frames 833, wherein the two vertical frames 833 are fixedly connected to the bottom end of the horizontal frame 832 and are symmetrically arranged; in a specific embodiment, the horizontal frame 832 and the vertical frame 833 are connected and fixed by bolts and nuts, but in other embodiments, they may also be fixed by welding or the like.

Two bottom supports 834, wherein the bottom supports 834 are fixedly connected to the inner side surface of the bottom of the vertical frame 833 in a one-to-one correspondence manner; the second sliding groups 817 are connected to the bottom brackets 834 in a one-to-one correspondence.

The pushing mechanism 85 comprises at least one pair of second actuators 851; each of the second actuators 851 is communicatively coupled to the controller; in a specific embodiment, the second actuator 851 adopts a hydraulic cylinder, and the second actuator 851 has two pairs; two pairs of the second actuators 851 are arranged up and down.

In each pair, the two second actuators 851 are symmetrically and fixedly connected to the inner side surface of the shaping support frame 83 and are located in the cavity 831, the output ends are transversely arranged and are connected to the outer side surface of the second vertical plate 812 in a one-to-one correspondence manner, and the axis of the output end and the vertical center line of the second vertical plate 812 are located in the same vertical plane. Therefore, each pair of second actuators 851 is connected into a whole through the shaping support frame 83, and the reaction force received when the clasping correction member 81 is pushed to carry out shaping is mutually counteracted.

The positioning driving device 823 comprises two third actuators 8231 and a push rod 8232; each of the third actuators 8231 is communicatively coupled to the controller; the two third actuators 8231 are fixedly connected to the shaping support frame 83, and the output ends of the third actuators are arranged along the transverse direction; the push rod 8232 is fixedly connected to the output ends of the two third actuating elements 8231 and is arranged along the longitudinal direction. In a specific embodiment, the third actuator 8231 is a hydraulic cylinder, and the push rod 8232 is locked on a piston rod of the third actuator 8231 through a nut;

the first conveying unit 824 comprises a conveying driving mechanism 8241, a conveying rack 8242, a plurality of roller clamping pieces 8243 and a plurality of rollers 8244;

a first clamping groove 82431 is formed downwards in the top of each roller clamping piece 8243; the number of the roller clips 8243 is 2 × the number of the rollers 8244; two ends of the roller 8244 are respectively embedded into the first clamping groove 82431 of the roller clamping piece 8243;

each roller fastener 8243 is connected to the conveying frame 8242, and the rollers 8244 are arranged in parallel at equal intervals;

the conveying driving mechanism 8241 is fixedly connected to the conveying frame 8242; the conveying driving mechanism 8241 is in communication connection with the controller, and the conveying driving mechanism 8241 drives all the rollers 8244 to synchronously rotate.

In a specific embodiment, horizontal support rods 82421 are symmetrically arranged on two sides of the top of the conveying rack 8242; the inner side surface of each horizontal supporting rod 82421 is provided with an open second clamping groove 824211;

a clamping block 82432 is arranged on the outer side surface of each roller clamping piece 8243, the second clamping groove 824211 and the clamping block 82432 are both T-shaped, the clamping block 82432 is locked on the outer side surface of each roller clamping piece 8243 through a screw, the roller clamping pieces 8243 can be replaced conveniently, after the roller clamping pieces 8243 are damaged, the screws are loosened, and the clamping blocks 82432 and the roller clamping pieces 8243 can be separated; the latch 82432 is inserted into the second latch slot 824211. Thereby damage the back at roller fastener 8243, can directly with roller fastener 8243 from second draw-in groove 824211 dismantle take out can, need not to dismantle carriage 8242 or replacement the conveyor unit, it is more convenient to maintain, reduces when the maintenance, reduces cost of maintenance.

In a specific embodiment, the connecting piece 826 and the bolt 827 are further included; the conveying device 2 is formed by splicing a plurality of second conveying units, and the second conveying units and the first conveying units adopt the same structure, as shown in fig. 26 to fig. 31.

The connecting piece 826 is provided with two through holes;

the front end and the rear end of the outer side surface of each horizontal supporting rod 82421 are respectively provided with a screw hole 824212;

two through holes of each connecting piece 826 are respectively penetrated by one bolt 827, then one bolt 827 is locked into the screw hole at the front end of one first conveying unit, and the other bolt is locked into the screw hole at the rear end of the adjacent conveying unit, so that the two adjacent conveying units are fixed together by the connecting pieces 826 and the bolts.

Each conveying driving mechanism 8241 comprises a motor 82411, a synchronizing gear 82412, a driving gear 82413, a first chain 82414 and a second chain 82415;

wherein the motor 82411 is fixedly connected to the conveying rack 8242; the driving gear 82413 is fixedly sleeved on the output shaft of the motor 82411;

one end of each roller 8244 is fixedly sleeved with two synchronizing gears 82412;

the first chains 82414 are respectively engaged with the driving gears 82413 and one of the synchronizing gears 82412; therefore, one of the rollers 8244 is used as a driving roller 8244, is driven by the motor 82411 and then drives the other rollers 8244 to rotate synchronously through the transmission of motion by the second chain 82415 and the synchronizing gear 82412.

The arrangement of the meshing of the synchronizing gear 82412 on the roller 8244 and the second chain 82415 is as follows: one of the synchronizing gears 82412 on the roller 8244 and an adjacent diametrically opposed synchronizing gear 82412 on the roller 8244 are engaged together by a second chain 82415; the other synchronizing gear 82412 on the roller 8244 is meshed with the opposite synchronizing gear 82412 on the other adjacent roller 8244 by using the second chain 82415.

If the driving gear 82413 and the synchronizing gear 82412 on the middle roller 8244 are meshed and connected together through the first chain 82414, the roller 8244 is fixedly sleeved with three synchronizing gears 82412, wherein one of the three synchronizing gears serves as a driven gear and is meshed with the driving gear.

In one embodiment, a side flap 825 is disposed at one end of the roller 8244, and the side flap 825 serves as the second limiting member 825. Of course, in other embodiments, the second position-limiting element 825 may also be a position-limiting plate or a position-limiting rod, which is fixed on the side of the transportation rack 8242.

The use method comprises the following steps:

the truck is previously parked in a predetermined parking area.

The second detection device 20 is arranged behind the license plate of the truck and used for detecting the license plate of the truck, the second detection device 20 is in communication connection with the controller and is controlled by the controller, and the second detection device 20 can adopt the existing CCD visual detection device.

The second conveying units of the conveying device 2 are identical to the first conveying units in structure, except that the side surfaces of the first conveying units do not need to be attached with the barcode tapes 7, and each second conveying unit is also provided with the first lifting mechanism 822 and the first limit part 821 for parking the tray and the goods at a predetermined station. Of course, in other embodiments, each second conveying unit of the conveying device 2 may not be provided with the first lifting mechanism 822 and the first limiting member 821, a second position detecting device may be provided in front of the first position detecting device for presetting a predetermined deceleration station, when the second position detecting device detects a tray, a feedback signal is given to the controller, the controller controls the motor of the corresponding second conveying unit to decelerate according to a predetermined program until the speed is reduced to zero, and the tray and the goods just stop at the predetermined station for loading.

The position information corresponding to each bar code and the information of the predetermined station where the container of each vehicle loads and unloads the goods are predetermined in advance and stored in the controller of the automatic goods loading and unloading system.

The controller can adopt the existing PLC, such as the model: FX5U-64 MT/ES. The first actuator 813, the second actuator 851, the third actuator 8231 and the first lifter 822 all adopt hydraulic cylinders. And presetting a working program.

When loading, the goods are shaped firstly, and then loaded:

before the shaping is started, the controller controls the piston rods of the first actuator 813 and the second actuator 851 to retract to a predetermined position, so that the clasping corrector 81 is opened, and the first vertical plate 811 is rotated to be opened.

Then, the controller controls the motor 82411 to operate, and the conveying tray moves toward the first limit piece 821; the controller controls the first lifter 822 to operate to lift the first stopper 821 to a predetermined position, so that the tray and the goods move to the front end surface of the first stopper 821 and are stopped by the first stopper 821 with the operation of the motor 82411, and the top end of the first stopper 821 is lower than the top surface of the tray;

after the piston rod is extended to a preset position, the other side surface of the tray abuts against the second limiting member 825; in the process, the motor 82411 works all the time, and the front end surface of the tray is kept flat against the first limit piece 821 all the time; thereby unifying the position of the tray and facilitating subsequent loading.

The third actuator 8231 keeps the piston rod extending, on the other hand, after the piston rod of the third actuator 8231 extends to the right position, a travel switch carried by the third actuator feeds back a signal to the controller,

then, the controller controls the piston rod of the second actuator 851 to extend to a predetermined position, so that two side faces of the goods are synchronously pushed right through the second vertical plate 812 at two sides of the goods, and the trays are pushed to be orderly through the second vertical correction plane 8121; after the piston rod of the second actuator 851 extends to a preset position, a travel switch carried by the second actuator feeds back a signal to the controller,

the controller controls the piston rod of the first actuator 813 to extend to a predetermined position, so that the first vertical plate 811 is rotated to the position where the first vertical correction plane 8111 is horizontal and parallel to the front and rear end surfaces of the cargo, and at this time, the front and rear end surfaces of the cargo are synchronously pushed and corrected by the first vertical plate 811; the tray is unified in position finally, and the stacked goods are shaped and pushed to be correct.

On the other hand, after the piston rod of the first actuator 813 extends to the proper position, a signal is fed back to the controller through the travel switch provided by the first actuator, the controller controls the piston rod of the first actuator 813 to retract, then controls the piston rod of the second actuator 851 to retract, then controls the piston rod of the third actuator 8231 to retract, and finally controls the piston rod of the elevator to retract, so that the first limit part 821 is lowered to the position below the tray, and the tray is conveyed forward along with the operation of the motor.

When goods are loaded and unloaded, the second detection device 20 detects the license plate of the truck and feeds the license plate back to the controller, and the controller calls a loading program corresponding to the truck according to corresponding license plate information;

the shaped goods are conveyed to the conveying device 2 from the conveying frame 8242, the controller controls the motors of the second conveying units of the conveying device 2 to work, the tray and the goods are conveyed to a preset station, the first limiting piece is lifted by the first lifter corresponding to the preset station, after the first limiting piece is sensed to be in place by the first position detection device of the corresponding second conveying unit, a signal is fed back to the controller, and the controller controls the feeding mechanism 1 to work;

the controller firstly controls the first driving motor 113 to work, drives the feeding mechanism 1 to move along the X axis, controls the first detection device 5 to scan the container, detects whether a truck or the container is parked at a preset position, detects whether articles exist in the container, sends an alarm prompt if the articles exist, stops working, continues to control the first driving motor 113 to work if no articles exist, drives the feeding mechanism 1 to move along the X axis, and in the moving process, the controller also controls the scanning device 6 of the feeding mechanism 1 to work, scans the bar codes on the side surface of the conveying device 2 along the X axis, and feeds scanned information back to the controller, and the controller adjusts the moving speed of the feeding mechanism 1 according to the received position information, and stops the feeding mechanism 1 at a preset station to load and unload the goods.

Then the controller controls the Y-axis moving module 13 and the Z-axis moving module 14 to move according to a preset track, so that the position of the pallet fork 15 in the direction of the Y, Z axis is adjusted, and the pallet fork 15 is controlled to fork the pallet and the goods;

then the controller controls the Y-axis moving module 13 and the Z-axis moving module 14 to move according to the preset track to load the goods into the container, and controls the Y-axis moving module 13 and the Z-axis moving module 14 to move according to the preset track so as to control the fork 15 to retreat and load the goods of the next pallet.

For unloading, the situation that the goods are all loaded on the tray can be preset, namely when the first detection device 5 detects that the goods without the tray are not the goods and cannot be unloaded in a forking mode, the controller controls the alarm device 3 to send out an alarm prompt, and the worker takes out the goods; if the goods are on the tray, the controller calls a discharging program to discharge the goods firstly;

the controller is also used for detecting whether the truck is stopped in a preset stopping range by the first detection device 5, controlling the first detection device 5 to detect the position of the goods in the container, and finally controlling the X-axis moving module 11 to move, scanning the bar code on the bar code belt 7 by the scanning device 6, so as to stop the feeding mechanism 1 at a preset station, and then controlling the Y-axis moving module 13 and the Z-axis moving module 14 to move according to a preset track, so as to drive the fork 15 to move for unloading, for example, the unloading action may be: the fork 15 moves to the bottom side of the pallet, then the fork 15 enters the bottom of the pallet, then the fork 15 is lifted to lift the goods and the pallet, then the fork 15 withdraws the container with the goods and the pallet, the goods and the pallet are placed on the preset parking station of the conveying device 2, finally the fork 15 withdraws the pallet to unload the goods of the next pallet, and the controller reversely rotates the motor of the conveying device 2 to convey the pallet and the goods away, in the process, the first lifter 822 and the first limiting part 821 do not work, and the first limiting part 821 is lowered to the lowest and located below the roller. When unloading, the shaping system can be not used, the shaping system stops working, the two second vertical plates 812 can be opened, and the goods can be conveyed away, at this moment, the running directions of the conveying device 102 and the conveying frame 8242 of the shaping system 8 are opposite to that of loading, of course, the conveying device 102 can also be made long enough, so that the goods can be loaded and unloaded only in one direction, the goods are put into one end of the conveying device for loading, and the goods are output for unloading at the other end of the conveying device.

Although specific embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the claims appended hereto.

Claims (10)

1. An automatic cargo handling system of a quick-opening side curtain box comprises a feeding mechanism, two conveying devices, an alarm device and a controller; the two conveying devices are arranged in parallel along the X axis; the feeding mechanism comprises two X-axis moving modules, a feeding support frame, two Y-axis moving modules, two Z-axis moving modules and two forks; the two X-axis moving modules are symmetrically and fixedly connected to the feeding support frame; the two Y-axis moving modules are symmetrical and movably connected to the feeding support frame; the two Z-axis moving modules correspond to each other one by one and are symmetrically connected with the two Y-axis moving modules; the two forks are connected to the two Z-axis moving modules in a one-to-one correspondence manner and are symmetrically arranged in opposite directions; the controller is respectively in communication connection with the two X-axis moving modules, the two Y-axis moving modules, the two Z-axis moving modules, the alarm device and the two conveying devices;

the method is characterized in that: also comprises

The first detection device is fixedly connected to the feeding support frame and is obliquely arranged downwards and inwards; the first detection device is also in communication connection with the controller and is used for detecting whether articles exist in the container, the height of the container and the parking position of the container or the truck;

the scanning device is fixedly connected to the feeding support frame and is in communication connection with the controller;

the bar code belt is fixedly connected to the outer side surface of the conveying device and arranged opposite to the scanning device;

the shaping system comprises two shaping systems, wherein each shaping system comprises two clamping correction pieces, a positioning mechanism, a shaping support frame, a first position detection device and a pushing mechanism;

wherein:

each clamping correction piece comprises two first vertical plates and a second vertical plate; the inner side surface of each first vertical plate is a first vertical correction plane; the inner side surface of the second vertical plate is a second vertical correction plane; the two first vertical plates are connected to the second vertical plate in a synchronous rotating mode around a vertical axis and are symmetrically arranged;

the positioning mechanism comprises a first limiting piece, a first lifter, a positioning driving device, a first conveying unit and a second limiting piece; the first limiting piece is connected to the first lifter and arranged on the first conveying unit along the transverse direction; the second limiting piece is arranged on the side edge of the first conveying unit along the longitudinal direction; the first elevator is communicatively connected to the controller;

the first position detection device is fixedly connected to the first conveying unit and is in communication connection with the controller;

the shaping support frame is provided with a cavity with two open ends;

the pushing mechanism is fixedly connected to the shaping support frame;

the positioning mechanism is arranged in the cavity; the first conveying unit is spliced at the front end of the conveying device, and the top surfaces of the first conveying unit and the conveying device are arranged at the same height;

the positioning driving device is fixedly connected to the shaping support frame, arranged along the transverse direction and faces the second limiting piece;

the two holding and clamping correction pieces are symmetrically arranged in opposite directions, and the two second vertical plates are connected to the shaping support frame in a sliding mode along the transverse synchronous opposite direction or synchronous deviation and are located in the cavity.

2. The automatic cargo handling system of quick-opening side curtain box as claimed in claim 1, wherein: each of the X-axis moving modules comprises

The wheel seat is fixedly connected with the feeding support frame;

the driving rail wheel is rotationally connected to the wheel seat, and the rotation axis of the driving rail wheel is horizontally vertical to the X axis;

the output shaft of the first driving motor is fixedly connected with the driving rail wheel, and the first driving motor is arranged on the wheel seat;

a rail disposed along an X-axis; the driving rail wheel is connected to the rail in a rolling manner;

a driven rail wheel, which is connected on the rail in a rolling way and is rotationally connected with the wheel seat, and the rotation axis of the driven rail wheel is horizontally vertical to the X axis;

two vertical limiting rods are arranged; the two vertical limiting rods are fixedly connected to the wheel seat, and the bottom ends of the two vertical limiting rods are also positioned below the driving track wheel and positioned at two sides of the track;

the limiting wheels are connected to the bottom of the vertical limiting rod in a one-to-one corresponding mode, the rotating shaft is vertically arranged, and the limiting wheels are connected into the grooves in the left side and the right side of the track in a one-to-one corresponding mode.

3. The automatic cargo handling system of a quick-open side curtain box as claimed in claim 2, wherein: each X-axis moving module also comprises two first ejector rods, two second ejector rods and two supports;

the first ejector rods are fixedly connected to the support in a one-to-one correspondence manner;

the wheel seat is respectively provided with the support saddle along the front and back directions of the X-axis direction, and the two first ejector rods are arranged oppositely;

the front end surface and the rear end surface of the wheel seat along the X-axis direction are respectively and fixedly connected with the second ejector rods, and the two second ejector rods are arranged in a reverse direction;

the first ejector rods and the second ejector rods are in one-to-one correspondence, coaxial and opposite and are arranged along the X axis.

4. The automatic cargo handling system of a quick-opening side curtain box as claimed in any one of claims 1 to 3, wherein: also comprises

The number of the limiting guide parts is two, and each limiting guide part comprises a linear part; the front end of the straight line part is provided with an oblique part; the two inclined parts are flared outwards; the two limiting guide pieces are arranged between the two conveying devices;

and a rear stopper disposed behind the linear portion.

5. The automatic cargo handling system of a quick-opening side curtain box as claimed in any one of claims 1 to 3, wherein: each clamping correction piece further comprises at least one pair of first execution elements; each of the first actuators is communicatively coupled to the controller;

in each pair, one first execution element is fixedly connected to the outer side face of the second vertical plate, and the output end of the first execution element is connected to the outer side face of the first vertical plate;

the other first executing element is fixedly connected to the outer side face of the second vertical plate, and an output shaft of the other first executing element is connected to the outer side face of the other first vertical plate;

the projections of the two first actuators in the vertical direction are symmetrically arranged along the midline of the second vertical plate.

6. The automatic cargo handling system of a quick-open side curtain box as claimed in claim 5, wherein: each holding clamp correcting piece also comprises

A top plate; the top plate is fixedly connected to the top end of the second vertical plate;

a first sliding group connected to the top plate and the truing support;

the bottom plate is fixedly connected to the bottom end of the second vertical plate;

a second sliding group connected to the base plate and the sizing support frame.

7. The automatic cargo handling system of a quick-open side curtain box as claimed in claim 6, wherein: the shaping support frame comprises

The horizontal frame is provided with one, and the two first sliding groups are connected to the horizontal frame;

the two vertical frames are fixedly connected to the bottom end of the horizontal frame and are symmetrically arranged;

the two bottom supports are fixedly connected to the inner side surface of the bottom of the vertical frame in a one-to-one correspondence manner; the second sliding groups are connected to the bottom bracket in a one-to-one correspondence manner.

8. The automatic cargo handling system of a quick-open side curtain box as claimed in claim 1, wherein: the pushing mechanism comprises at least one pair of second actuating elements; each second actuator is communicatively coupled to the controller;

in each pair, the two second executing elements are symmetrically and fixedly connected to the inner side face of the shaping supporting frame and located in the cavity, the output ends are transversely arranged and connected to the outer side face of the second vertical plate in a one-to-one correspondence mode, and the axis of the output end and the vertical center line of the second vertical plate are located in the same vertical plane.

9. The automatic cargo handling system of a quick-open side curtain box as claimed in claim 1, wherein: the positioning driving device comprises two third execution elements and a push rod; each of the third actuators is communicatively coupled to the controller; the two third executing elements are fixedly connected to the shaping supporting frame, and the output ends of the third executing elements are arranged along the transverse direction; the push rod is fixedly connected to the output ends of the two third execution elements and is arranged along the longitudinal direction.

10. The automatic cargo handling system of a quick-open side curtain box as claimed in claim 9, wherein: the first conveying unit comprises a conveying driving mechanism, a conveying frame, a plurality of roller clamping pieces and a plurality of rollers;

the top of each roller clamping piece is downwards provided with a first clamping groove; the number of the roller clamping pieces is 2 times that of the rollers; two ends of the roller are respectively embedded into the first clamping groove of the roller clamping piece;

each roller fastener is connected to the conveying frame, and the rollers are arranged in parallel at equal intervals;

the driving mechanism is fixedly connected to the conveying frame; the driving mechanism is in communication connection with the controller and drives all the rollers to synchronously rotate.

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