CN215945979U

CN215945979U - AGV conveying equipment and AGV logistics system

Info

Publication number: CN215945979U
Application number: CN202121645539.4U
Authority: CN
Inventors: 梁奇星
Original assignee: Shenzhen Youibot Robotics Technology Co ltd
Current assignee: Shenzhen Youibot Robotics Technology Co ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2022-03-04
Anticipated expiration: 2031-07-19

Abstract

An AGV conveying device and an AGV logistics system comprise an AGV trolley and a conveying device arranged at the top of the AGV trolley, wherein the conveying device comprises a rack, a loading and unloading mechanism, a bearing mechanism, a blocking mechanism and a jacking mechanism; the loading and unloading mechanism comprises a first loading surface for loading materials; the bearing mechanism comprises a second bearing surface for bearing materials; before the loading and unloading mechanism receives the materials, the jacking mechanism drives the bearing mechanism to descend, so that the blocking mechanism or the second bearing surface can descend to be lower than the first bearing surface, and after the loading and unloading mechanism receives the materials and the materials are located above the first bearing surface, the jacking mechanism drives the bearing mechanism to ascend, so that the second bearing surface can ascend to be higher than the first bearing surface, and the materials are ejected. According to the utility model, the supporting mechanism is divided into a plurality of storage sections through the arrangement of the blocking mechanism, so that a plurality of materials can be received, the transportation efficiency is high, and the materials can be stabilized and prevented from shaking by being divided into a plurality of independent storage sections.

Description

AGV conveying equipment and AGV logistics system

Technical Field

The utility model relates to the technical field of automatic transportation, in particular to AGV conveying equipment and an AGV logistics system.

Background

An Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions.

The conventional AGV generally loads and unloads materials to and unloads a machine table, but only can transport a single material at a time, cannot transport a plurality of materials, and is low in transportation efficiency.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an AGV conveying device and an AGV logistics system, which not only can receive a plurality of materials and have high transportation efficiency, but also can stabilize the materials and prevent the materials from shaking.

The utility model provides AGV conveying equipment in a first aspect, which comprises an AGV trolley and a conveying device arranged at the top of the AGV trolley, wherein the conveying device comprises:

a frame;

the loading and unloading mechanism is arranged on the rack and used for loading and unloading materials to the machine table, and comprises a first loading surface for loading the materials;

the receiving mechanism is used for receiving the materials received by the loading and unloading mechanism and comprises a second bearing surface for bearing the materials;

the blocking mechanism is arranged on the bearing mechanism and used for dividing the bearing mechanism into a plurality of storage sections for bearing materials;

the jacking mechanism is connected with the rack and the bearing mechanism and used for driving the bearing mechanism to vertically lift so that the blocking mechanism or the second bearing surface can be lowered to be lower than the first bearing surface before the loading and unloading mechanism receives the material, and the second bearing surface can be raised to be higher than the first bearing surface when the material is positioned above the first bearing surface so as to jack up the material.

Furthermore, the blocking mechanism comprises at least one blocking piece, and the blocking piece is arranged on the second bearing surface so that materials in different storage intervals are separated through the blocking piece.

Further, the conveying device further comprises a baffle and a first driving assembly, the first driving assembly is installed on the rack, the baffle is arranged above the second bearing surface and connected with the first driving assembly, and the first driving assembly can drive the baffle to move up and down.

Furthermore, the loading and unloading mechanism comprises a first roller assembly, a second roller assembly and a second driving assembly, the first roller assembly and the second roller assembly are respectively positioned at two sides of the bearing mechanism, and the upper surfaces of the first roller assembly and the second roller assembly form the first bearing surface; the second driving assembly is connected with the first roller assembly and/or the second roller assembly so as to drive the first roller assembly and the second roller assembly to move.

The supporting plate is arranged at the top of the jacking mechanism, the upper surface of the supporting plate is the second bearing surface, extension plates are arranged on two sides of the supporting plate, gaps through which the extension plates can pass are formed in the first roller assembly and the second roller assembly, and when the jacking mechanism drives the supporting plate to descend, the extension plates on two sides of the supporting plate respectively pass through the gaps of the first roller assembly and the second roller assembly, so that the second bearing surface descends to be lower than the first bearing surface.

Furthermore, the conveying device further comprises a first guide part and a second guide part, the first guide part is arranged on one side, away from the second roller assembly, of the first roller assembly, the second guide part is arranged on one side, away from the first roller assembly, of the second roller assembly, and a guide channel is formed between the first guide part and the second guide part, so that the materials move on the first bearing surface along the guide channel;

the first guide piece and the second guide piece comprise butt joint ends for butt joint with a machine table, and in the discharging direction, the minimum distance between the butt joint ends of the first guide piece and the second guide piece is gradually increased.

Further, the first guide piece and the second guide piece are provided with rollers for reducing friction on opposite sides.

Further, the conveying device further comprises:

the control mechanism is used for controlling the driving of the jacking mechanism and the second driving assembly;

the detection mechanism is arranged on the rack and used for detecting whether the material on the first bearing surface reaches a designated position, and the control mechanism controls the second driving assembly to stop driving and controls the jacking mechanism to lift and jack the material according to the material position fed back by the detection mechanism.

The utility model provides an AGV logistics system, which comprises a machine platform and the AGV conveying equipment, wherein the AGV conveying equipment is used for exchanging materials with the machine platform.

The third aspect of the utility model provides an AGV logistics system, which comprises forks and the AGV conveying equipment, wherein the AGV conveying equipment is used for exchanging materials with the forks.

Further, AGV conveying equipment still includes the fork, the fork is including the third loading face that bears the weight of the material, climbing mechanism can drive receiving mechanism, so that the second loading face can rise to being higher than the third loading face, the AGV dolly drives conveyor is close to behind the fork, climbing mechanism drive receiving mechanism, so that the second loading face can descend to being less than the third loading face, shift the material to the third loading face.

Furthermore, the fork comprises a first extending part and a second extending part, a material placing position for accommodating the bearing mechanism is arranged between the first extending part and the second extending part, and a third bearing surface is formed on the upper surfaces of the first extending part and the second extending part;

when conveyor docks with the fork, the AGV dolly moves and is located to making receiving mechanism put the material level, first extension and second extension are located respectively the both sides below of second loading end, the climbing mechanism drive receiving mechanism descends, makes the material fall into the third loading end.

The utility model has the beneficial effects that: the utility model discloses AGV conveying equipment and an AGV logistics system, which comprise an AGV trolley and a conveying device arranged at the top of the AGV trolley, wherein the conveying device comprises a rack, a loading and unloading mechanism, a bearing mechanism, a blocking mechanism and a jacking mechanism; the loading and unloading mechanism comprises a first loading surface for loading materials; the bearing mechanism comprises a second bearing surface for bearing materials; before the loading and unloading mechanism receives the materials, the jacking mechanism drives the bearing mechanism to descend, so that the blocking mechanism or the second bearing surface can descend to be lower than the first bearing surface, after the loading and unloading mechanism receives the materials and the materials are located above the first bearing surface, the jacking mechanism drives the bearing mechanism to ascend, so that the second bearing surface can ascend to be higher than the first bearing surface, and the materials are ejected and placed in the storage region. According to the utility model, the supporting mechanism is divided into a plurality of storage sections through the arrangement of the blocking mechanism, so that a plurality of materials can be received, the transportation efficiency is high, and the materials can be stabilized and prevented from shaking by being divided into a plurality of independent storage sections.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of an AGV transport apparatus according to an embodiment of the present invention.

Fig. 2 is a partially enlarged schematic view at a in fig. 1.

FIG. 3 is a schematic diagram of another perspective of the AGV transport of FIG. 1.

Fig. 4 is a schematic diagram of an internal structure of a rack according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a fork according to an embodiment of the present invention.

In the figure, an AGV transport apparatus 100; an AGV trolley 10; a conveying device 20; a frame 21; a stopper groove 211; an attachment/detachment mechanism 22; a first carrying surface 221; a first roller assembly 222; a second roller assembly 223; a dual-axis motor 224; a drive link 225; a first output 226; a second output 227; a receiving mechanism 23; the second bearing surface 231; a support plate 232; an extension plate 233; a barrier 241; a baffle 242; an electric cylinder 243; a support bracket 244; a jacking mechanism 25; a support column 251; the first guide 261; a second guide 262; an interface end 263; a roller 264; a positioning sensor 27; a fork 30; a third carrying surface 31; the first projecting portion 32; the second projecting portion 33; a discharge position 34; a base 35; a card slot 36.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is also to be understood that the terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1-5, an AGV transport apparatus 100 according to an embodiment of the present invention includes an AGV cart 10 and a transport device 20 disposed on the top of the AGV cart 10, where the transport device 20 includes a frame 21, a loading and unloading mechanism 22, a receiving mechanism 23, a blocking mechanism, and a jacking mechanism 25; the loading and unloading mechanism 22 is mounted on the frame 21 and used for loading and unloading materials to and from the machine table, and the loading and unloading mechanism 22 comprises a first loading surface 221 for loading the materials; the receiving mechanism 23 is used for receiving the material received by the loading and unloading mechanism 22, and the receiving mechanism 23 includes a second bearing surface 231 for bearing the material; the blocking mechanism is arranged on the bearing mechanism 23 and is used for dividing the bearing mechanism 23 into a plurality of storage sections for bearing materials; the jacking mechanism 25 is connected with the rack 21 and the bearing mechanism 23 and used for driving the bearing mechanism 23 to vertically lift so that the second bearing surface 231 can be lowered to be lower than the first bearing surface 221 before the loading and unloading mechanism 22 receives the materials, or the blocking mechanism can be lowered to be lower than the first bearing surface 221 before the loading and unloading mechanism 22 receives the materials so that the materials can be loaded to the storage area at the inner side of the bearing mechanism 23 and are separated from the materials in the storage area at the outer side through the blocking mechanism; and when the material is on the second bearing surface 231, the second bearing surface 231 can be lifted higher than the first bearing surface 221 to lift the material.

For example, the AGV transport apparatus 100 according to the embodiment of the present invention may not only butt against the machine platform to simultaneously transport 2 materials, but also butt against the forks 30 to temporarily store the materials in the forks 30.

In an alternative embodiment, the blocking mechanism includes a blocking member 241, when the conveying device 20 operates, the blocking member descends to a position lower than the first carrying surface 221 along with the second carrying surface 231, the blocking member is plate-shaped and transversely disposed on the second carrying surface 231, so as to be divided into 2 storage sections, so that the materials in different storage sections are separated by the blocking member, not only 2 materials can be placed, but also a blocking effect can be generated on the materials, and the materials are prevented from shaking; it is understood that the blocking mechanism may also include a plurality of blocking members 241 transversely disposed on the second bearing surface 231, and the number of the blocking members 241 may be adjusted as required, so as to place a plurality of materials.

In an alternative embodiment, the conveying device 20 further includes a baffle 242 and a first driving assembly, the first driving assembly is mounted on the frame 21, the baffle 242 is disposed above the second bearing surface 231, the baffle 242 is connected to the first driving assembly, and the first driving assembly can drive the baffle 242 to move up and down. Can be according to material height control baffle 242's height to the convenience can also play the stabilizing action when playing the separation effect to the material, prevents that the material from rocking.

Illustratively, the first driving assembly includes a linear driving device and a support frame 244, the linear driving device may employ an electric cylinder 243, the electric cylinder 243 and the support frame 244 are both disposed on the side surface of the frame 21, both ends of the electric cylinder 243 are respectively connected with the frame 21 and the support frame 244 so as to be able to drive the support frame 244 to move up and down, the baffle 242 is transversely disposed above the second bearing surface 231, a limit groove 211 is disposed at a position corresponding to the side surface of the frame 21, an end portion of the baffle 242 extends out of the limit groove 211 on the side surface of the frame 21 and is connected with the support frame 244 so as to be able to move up and down along with the support frame 244 within the range of the limit groove 211, the baffle 242 may be provided in plurality, illustratively, 2 baffles 242 are provided and are respectively disposed at the front side and the middle portion above the second bearing surface 231, an opening is disposed at the front side of the frame 21 for abutting against a material, and a blocking surface is disposed at the rear side of the frame 21. Can be according to material height control baffle 242's height to the convenience can also play the stabilizing action when playing the separation effect to the material, prevents that the material from rocking.

It can be understood that the supporting frame 244 may not be provided, and the baffle is directly driven to lift by the linear driving device, and the linear driving device may also be a cylinder, a hydraulic cylinder, a linear module, an electric pushing shaft or other prior art capable of pushing the baffle to vertically lift, which is specifically determined according to the actual design requirement.

In an alternative embodiment, the handling mechanism 22 includes a first roller assembly 222, a second roller assembly 223 and a second driving assembly, the first roller assembly 222 and the second roller assembly 223 are respectively located at two sides of the receiving mechanism 23, and the upper surfaces of the first roller assembly 222 and the second roller assembly 223 form a first bearing surface 221; the second driving assembly is provided with a first output end 226 and a second output end 227, and the first output end 226 is connected with the first roller assembly 222 and is used for driving the first roller assembly 222 to move; the second output 227 is coupled to the second roller assembly 223 for driving the movement of the second roller assembly 223.

In an alternative embodiment, the receiving mechanism 23 further includes a supporting plate 232, the supporting plate 232 is disposed on the top of the jacking mechanism 25, the second bearing surface 231 is an upper surface of the supporting plate 232, extension plates 233 are further disposed on two sides of the supporting plate 232, gaps through which the extension plates 233 can pass are disposed on the first roller assembly 222 and the second roller assembly 223, when the jacking mechanism 25 drives the supporting plate 232 to descend, the extension plates 233 on two sides of the supporting plate 232 respectively pass through the gaps of the first roller assembly 222 and the second roller assembly 223, so that the second bearing surface 231 descends to be lower than the first bearing surface 221. The first roller assembly 222 and the second roller assembly 223 are roller conveying structures formed by a plurality of rollers, and the gap through which the extension plate 233 passes can be a gap between adjacent rollers.

The jacking mechanism 25 can adopt a mode that a motor drives a screw rod to rotate so as to drive a nut on the screw rod to move up and down, specifically, the rack 21 comprises a bottom plate, the loading and unloading mechanism 22 is installed on the bottom plate, the nut of the jacking mechanism 25 is connected with a support column 251, the support column 251 penetrates through the upper part of the bottom plate and is connected with the support plate 232, the motor drives the screw rod to rotate so as to drive the nut to move up and down, and the nut drives the support column 251 to move up and down so as to realize the lifting of the support plate 232; of course, other implementations are possible.

The second driving assembly comprises a double-shaft motor 224, two ends of the double-shaft motor 224 are respectively connected with a first output end 226 and a second output end 227 through a transmission connecting rod 225, the first output end 226 and the second output end 227 are both transmission chain wheels, the first output end 226 and the second output end 227 respectively provide power for the first roller assembly 222 and the second roller assembly 223 through belt transmission/chain transmission, wherein the second driving assembly is provided with 2 groups which are respectively positioned at the front end and the rear end of the frame 21 and respectively drive the first roller assembly 222 and the second roller assembly 223 from the front side and the rear side, and the loading and unloading mechanism 22 is convenient for conveying materials.

In an alternative embodiment, the conveying device 20 further includes a first guiding member 261 and a second guiding member 262, the first guiding member 261 is disposed on a side of the first roller assembly 222 away from the second roller assembly 223, the second guiding member 262 is disposed on a side of the second roller assembly 223 away from the first roller assembly 222, and a guiding passage is formed between the first guiding member 261 and the second guiding member 262, so that the material moves on the first carrying surface 221 along the guiding passage, thereby achieving a guiding effect on the material.

The first guide 261 and the second guide 262 include an abutting end 263 for abutting with the machine table, and a minimum distance between the abutting end 263 of the first guide 261 and the abutting end 263 of the second guide 262 is gradually increased in the discharging direction.

For example, when the material is loaded into or unloaded from the machine station into the loading and unloading mechanism 22, the material can be conveniently loaded and unloaded by moving the first roller assembly 222 and the second roller assembly 223 along with the movement of the first roller assembly 261 and the second roller assembly 262 from the interval between the abutting ends 263 of the first guide 261 and the second guide 262.

In an alternative embodiment, rollers 264 for reducing friction are provided on opposite sides of the first guide 261 and the second guide 262, so that friction may be reduced when the material moves.

In an optional embodiment, the conveying device 20 further includes a control mechanism and a detection mechanism, the control mechanism is electrically connected to both the jacking mechanism 25 and the second driving assembly, and is used for controlling the driving of the jacking mechanism 25 and the second driving assembly; the detection mechanism is mounted on the frame 21 and used for detecting whether the material on the first bearing surface 221 reaches a designated position, the detection mechanism is electrically connected with the control mechanism, and the control mechanism controls the second driving assembly to stop driving and controls the jacking mechanism 25 to lift and jack the material according to the material position fed back by the detection mechanism.

Illustratively, the detecting mechanism is a positioning sensor 27 for positioning, a plurality of positioning sensors 27 with uniform intervals are arranged on both sides of the frame 21, and are used for positioning the material, when the material on the first bearing surface 221 reaches a designated position, the positioning sensors 27 send a signal to the control mechanism, the control mechanism controls the second driving assembly to stop driving according to the material position fed back by the detecting mechanism, and then controls the jacking mechanism 25 to ascend to jack up the material, so that the material is accurately located in the corresponding storage interval.

It is understood that the control mechanism, the positioning sensor 27 and the jacking mechanism 25 for driving the lifting are all in the prior art, and will not be described in detail herein.

Referring to fig. 1-5, an AGV logistics system according to an embodiment of the present invention includes a machine platform and the AGV transport apparatus 100, where the AGV transport apparatus 100 is used to exchange materials with the machine platform.

Referring to fig. 1-5, an AGV logistics system according to an embodiment of the present invention includes forks 30 and an AGV transport apparatus 100 as described above, wherein the AGV transport apparatus 100 is used for exchanging materials with the forks 30.

In an alternative embodiment, the AGV transport apparatus 100 further includes forks 30, the forks 30 are used for transferring the material on the second carrying surface 231, the forks 30 include a third carrying surface 31 for carrying the material, the jacking mechanism 25 can drive the receiving mechanism 23 to enable the second carrying surface 231 to be raised above the third carrying surface 31, after the AGV cart 10 brings the transport device 20 close to the forks 30, the jacking mechanism 25 can drive the receiving mechanism 23 to enable the second carrying surface 231 to be lowered below the third carrying surface 31 for transferring the material to the third carrying surface 31.

In the utility model, when the AGV needs to be butted with the fork 30, the second bearing surface 231 is higher than the first bearing surface 221 of the loading and unloading mechanism 22 at the moment, the material is jacked up, the AGV car 10 moves forward to enable the fork 30 to be inserted between the loading and unloading mechanism 22 and the bearing mechanism 23, two sides of the fork 30 are located below two sides of the material, the bearing mechanism 23 is controlled to descend by the jacking mechanism 25, so that the material is placed on the fork 30, the bearing mechanism 23 is driven by the jacking mechanism 25 to continuously descend to enable the second bearing surface 231 to be lower than the first bearing surface 221 of the loading and unloading mechanism 22, and the AGV car 10 retreats to be far away from the fork 30, so that the material is convenient to transfer.

In an alternative embodiment, the fork 30 includes a first extending portion 32, a second extending portion 33 and a base 35, the first extending portion 32 and the second extending portion 33 are connected to the base 35 and are parallel to each other, a receiving position 34 for receiving the receiving mechanism 23 is disposed between the first extending portion 32 and the second extending portion 33, and upper surfaces of the first extending portion 32 and the second extending portion 33 form a third bearing surface 31; a clamping groove 36 corresponding to the extension plate 233 is further arranged on one side of the first extension part 32 opposite to the second extension part 33;

when the conveying device 20 is in butt joint with the fork 30, the AGV trolley 10 moves to enable the receiving mechanism 23 to be located at the material placing position 34, the first extending portion 32 and the second extending portion 33 are located below two sides of the second bearing surface respectively, the jacking mechanism 25 drives the receiving mechanism 23 to descend, the extending plates 233 on two sides of the supporting plate 232 are driven to penetrate through the clamping grooves 36 to move downwards, the material falls into the third bearing surface 31, and therefore the material is convenient to be temporarily stored in the fork 30.

While the utility model has been described with reference to specific embodiments, the utility model is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the utility model. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides an AGV conveying equipment which characterized in that includes the AGV dolly and locates the conveyor at AGV dolly top, conveyor includes:

a frame;

2. The AGV transport apparatus of claim 1 wherein the barrier mechanism includes at least one barrier positioned on the second load surface to separate materials in different storage compartments by the barrier.

3. The AGV transport apparatus of claim 1 wherein the transport further includes a flipper and a first drive assembly, the first drive assembly mounted to the frame, the flipper positioned above the second load surface, the flipper coupled to the first drive assembly, and the first drive assembly capable of driving the flipper up and down.

4. The AGV transport apparatus of claim 1, wherein the loading and unloading mechanism includes first and second roller assemblies positioned on opposite sides of the receiving mechanism, respectively, the first and second roller assemblies having upper surfaces forming the first load bearing surface; the second driving assembly is connected with the first roller assembly and/or the second roller assembly so as to drive the first roller assembly and the second roller assembly to move.

5. The AGV conveying apparatus of claim 4, wherein the receiving mechanism further comprises a supporting plate, the supporting plate is disposed on the top of the jacking mechanism, the upper surface of the supporting plate is the second carrying surface, extending plates are disposed on two sides of the supporting plate, the first roller assembly and the second roller assembly are provided with gaps through which the extending plates can pass, and when the jacking mechanism drives the supporting plate to descend, the extending plates on two sides of the supporting plate respectively pass through the gaps of the first roller assembly and the second roller assembly, so that the second carrying surface descends to be lower than the first carrying surface.

6. The AGV transport apparatus of claim 4, wherein the transport further includes a first guide member disposed on a side of the first roller assembly remote from the second roller assembly and a second guide member disposed on a side of the second roller assembly remote from the first roller assembly, the first and second guide members defining a guide path therebetween for moving the material along the guide path on the first load surface;

7. The AGV transport apparatus of claim 6 wherein rollers are provided on opposite sides of the first and second guides for reducing friction.

8. The AGV transport of claim 4 wherein the transport further comprises:

9. An AGV logistics system comprising a platform and an AGV transport according to any one of claims 1 to 8 for exchanging material with the platform.

10. An AGV logistics system comprising forks and an AGV transport apparatus according to any one of claims 1 to 8 for exchanging material with the forks.

11. The AGV logistics system of claim 10 wherein said forks include a third load bearing surface for supporting material, said lift mechanism driving said receiving mechanism to allow said second load bearing surface to rise above said third load bearing surface, said AGV cart driving said transport adjacent said forks, said lift mechanism driving said receiving mechanism to allow said second load bearing surface to descend below said third load bearing surface for transferring material to said third load bearing surface.

12. The AGV logistics system of claim 11 wherein said forks include first and second extensions, said first and second extensions defining therebetween a receiving location for receiving said support structure, said first and second extensions defining said third load bearing surface on upper surfaces thereof;

conveyor with during the fork butt joint, the AGV dolly moves to making receiving mechanism is located put the material level, first extension with the second extension is located respectively the both sides below of second loading end, the climbing mechanism drive receiving mechanism descends, makes the material fall into the third loading end.