CN217102217U - Automatic loading and unloading system - Google Patents

Abstract

An automatic loading and unloading system comprises an aerial platform and a conveyor. The carrier can move along a first direction on a track of the high-altitude platform and comprises a lifting mechanism, a fork, a base, a roller, a rotating shaft piece, an angle adjusting oil hydraulic cylinder, a shaft supporting mechanism, two optical scanners and a position sensor. The fork is arranged on the lifting mechanism. The roller is arranged on the base and can move on the track. The rotating shaft is arranged on the shaft clamping part of the base. The angle adjustment oil hydraulic cylinder is arranged on the base. The shaft support mechanism has an upper portion engaged with the angle adjustment cylinder and a lower portion engaged with the rotary shaft member. The shaft support mechanism is connected with the lifting mechanism. The optical scanner is arranged on the base, and can obtain two-dimensional contour information above the bearing plane of the truck. The position sensor is arranged on the base and can sense the position information of the conveyor. The optical scanner and the position sensor can obtain the information of the relative position between the bearing plane of the full-load truck and the goods and the height of the bearing plane, thereby improving the unloading efficiency of the goods.

Description

Automatic loading and unloading system

Technical Field

The present invention relates to a loading and unloading technology for materials, and more particularly, to an automatic loading and unloading system.

Background

Currently, automatic loading and unloading systems are widely used in industries that use bagged materials, such as cement, food, feed and fertilizer industries. In an automatic loading and unloading system, a forklift forks bagged materials from a tray and then transfers the bagged materials to a truck to carry out loading operation of the materials. The forklift can also fork bagged materials from the truck and transfer the bagged materials to the tray so as to unload the materials.

However, such an automatic loading and unloading system requires the use of pallets, and the material cost and warehouse management of the pallets are burdensome to the business. In addition, when the bagged materials are taken by the fork of the forklift, the fork of the forklift is inserted into the bagged materials possibly due to misalignment of manual operation, so that the bagged materials are damaged, and the materials are leaked. In such a case, the worker must clean the site to continue the loading or unloading operation, and the operation time is delayed.

SUMMERY OF THE UTILITY MODEL

Therefore, an object of the present invention is to provide an automatic loading and unloading system, in which the base of the carrier is respectively provided with optical scanners along two lateral sides, and the base of the carrier is provided with a position sensor for sensing the position of the carrier when the carrier moves. Therefore, when the carrying plane of the truck is scanned, the two sides of the carrying plane can be prevented from being shielded by the height of the goods. Therefore, the information of the relative position of the goods and the bearing plane of the truck and the height of the bearing plane of the truck at the full load can be obtained for the truck which is fully loaded. Therefore, when unloading the goods, the goods can be prevented from being damaged, and the efficiency of unloading the goods can be greatly improved.

Another objective of the present invention is to provide an automatic loading and unloading system, wherein one or more optical scanners or cameras are disposed on the fork, and another position sensor is disposed on the lifting mechanism of the carrier. Therefore, after the height information of the full loading plane of the truck is obtained, the two-dimensional contour information behind the loading plane of the truck is obtained by using another optical scanner or camera along with the descending of the fork, and the three-dimensional contour behind the truck is established by matching the position information of the lifting mechanism obtained by the position sensor on the lifting mechanism. Borrow this, can order about the fork and accurately fork the goods on the freight train, unload smoothly.

According to the above object of the present invention, an automatic loading and unloading system is provided. The automatic loading and unloading system comprises an aerial platform and a conveyor. The high altitude platform comprises two rails. The carrier is provided on the rail and configured to move in a first direction on the rail. The carrier includes a lifting mechanism, a fork, a base, a plurality of rollers, a rotating shaft, an angle adjusting hydraulic cylinder, a shaft supporting mechanism, two optical scanners, and a position sensor. The fork is arranged on the lifting mechanism, wherein the lifting mechanism is configured to drive the fork to move along a second direction, and the fork comprises a plurality of fork pieces which are arranged side by side at intervals. The base includes a two-axis clamp. The plurality of rollers are arranged on the base and are configured to move on the track. The rotating shaft is arranged on the two shaft clamping parts. The angle adjustment oil hydraulic cylinder is arranged above the base. The shaft support mechanism has an upper portion engaged with the angle adjusting hydraulic cylinder and a lower portion engaged with the rotary shaft member, wherein the shaft support mechanism and the elevating mechanism are connected to each other. When the angle adjusting oil hydraulic cylinder is actuated, the shaft supporting mechanism and the lifting mechanism rotate around the rotating shaft piece, so that the fork is lifted along the anticlockwise direction or inclined forwards along the clockwise direction. The two optical scanners are arranged on the first cross bar of the base, are separated from each other in the third direction, and are configured to optically scan the truck below the track when the conveyor moves so as to obtain a plurality of two-dimensional profile information above the bearing plane of the truck. Each two-dimensional profile information above the bearing plane is based on the second direction and the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The position sensor is arranged on the first cross bar and is configured to sense a plurality of position information of the conveyor when the conveyor moves. Three-dimensional contour information is formed using the positional information of the conveyor and the two-dimensional contour information above the bearing plane.

According to an embodiment of the present invention, the automatic loading and unloading system further comprises a plurality of derailing prevention devices, wherein the base further comprises a first vertical bar and a second vertical bar respectively engaged with two opposite ends of the first horizontal bar, and at least two of the derailing prevention devices are disposed outside the first vertical bar and the second vertical bar.

According to an embodiment of the present invention, the lifting mechanism includes a first mast, a second mast, a height adjusting hydraulic cylinder, and a pulley assembly. The second mast is arranged below the first mast and is parallel to the first mast, and the fork is arranged on the second mast. The height adjusting oil hydraulic cylinder is connected with the first mast. The pulley assembly connects the first mast and the second mast. When the height adjusting oil hydraulic cylinder is actuated, the first mast moves along the second direction to drive the pulley assembly to drive the second mast and the fork to move along the second direction.

According to an embodiment of the present invention, each of the fork members includes two belts, and the belts are disposed in parallel.

According to an embodiment of the present invention, the automatic loading and unloading system further comprises a loading mechanism, wherein the loading mechanism comprises a conveyor platform. The conveyor belt and conveyor platform are configured to transfer cargo on the loading mechanism from the conveyor platform to the fork members when the forks are adjacent the loading mechanism.

According to an embodiment of the present invention, the fork is divided into a plurality of fork sets, the fork sets can be individually moved along the third direction to adjust the distance between the fork sets, and the fork sets can also be moved together along the third direction.

According to an embodiment of the present invention, the above-mentioned carrier further includes another position sensor. The other position sensor is arranged on the lifting mechanism and is configured to sense a plurality of position information corresponding to a plurality of positions of the lifting mechanism in the second direction when the lifting mechanism moves.

According to an embodiment of the present invention, the automatic loading and unloading system further includes at least one other optical scanner or at least one camera disposed on the fork. The at least one other optical scanner or the at least one camera is configured to perform optical scanning or image recognition on the truck below the track when the lifting mechanism moves so as to obtain a plurality of two-dimensional contour information or images behind a bearing plane of the truck, wherein the two-dimensional contour information behind the bearing plane is based on the first direction and the third direction. And establishing three-dimensional contour information behind the truck by using the position information of the lifting mechanism and the two-dimensional contour information or image behind the bearing plane.

According to an embodiment of the present invention, the number of the at least one other optical scanner or the at least one camera is 2, and the at least one other optical scanner or the at least one camera is separately disposed in the third direction.

According to an embodiment of the present invention, the above-mentioned carrier further includes at least one clamping mechanism disposed above the fork and configured to move along the second direction to clamp the goods.

Drawings

The aspects of the present invention will be better understood from the following detailed description taken in conjunction with the accompanying drawings. It is noted that, in accordance with standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or reduced for clarity of discussion.

Fig. 1 is a schematic diagram illustrating an automatic loading and unloading system according to an embodiment of the present invention.

Fig. 2 is a perspective view illustrating a carrier of an automatic loading and unloading system according to an embodiment of the present invention.

Fig. 3 is a system assembly diagram illustrating a handler of an automatic loading and unloading system according to an embodiment of the present invention.

Fig. 4 is a schematic view showing the top of the loading plane of a scanning truck of an automatic loading and unloading system according to an embodiment of the present invention.

Fig. 5 is a schematic diagram illustrating the rear of a scanning truck of an automatic loading and unloading system according to an embodiment of the present invention.

Detailed Description

Various embodiments of the present invention are discussed in detail below. It should be appreciated, however, that these embodiments provide many applicable concepts that can be embodied in a wide variety of specific contexts. The embodiments discussed and disclosed are merely illustrative and are not intended to limit the scope of the present invention. Various features are disclosed in all of the embodiments of the invention, but these features can be implemented separately or in combination as desired. In addition, as used herein, the terms "first," "second," …, and the like, do not particularly denote an order or sequence, but rather are used to distinguish one element or operation from another element or operation described in the same technical language.

In addition, the spatial relationship between two elements described in the present invention is not only applicable to the orientation shown in the drawings, but also applicable to the orientation not shown in the drawings, such as the upside-down orientation. Furthermore, the terms "connected," "coupled," "electrically connected," and the like in the embodiments of the present invention are not limited to direct connection, coupling, or electrical connection, but can also include indirect connection, coupling, or electrical connection, as desired.

Referring to fig. 1, a schematic diagram of an automatic loading and unloading system according to an embodiment of the present invention is shown. The automatic loading and unloading system 100 may mainly include an aerial platform 200 and a handler 300. In some examples, the automated loading and unloading system 100 may also include a loading mechanism 400. The truck 500 may be parked directly beneath the high-altitude platform 200, whereby the automated loading system 100 may transfer the cargo 101 from the loading mechanism 400 to the truck 500 using the handler 300, or transfer the cargo 101 from the truck 500 to the loading mechanism 400.

As shown in FIG. 1, aerial platform 200 may include two rails 210 and 220. The two rails 210 and 220 are parallel to each other and spaced apart from each other. Each of the rails 210 and 220 may be disposed along the first direction D1. The length of the rails 210 and 220, and the spacing between them, may be adjusted depending on the actual conditions at the time of shipment. For example, the length of the rails 210 and 220 and the spacing between them may be adjusted depending on the number and length of the trucks 500, the location of the loading mechanism 400, and the configuration of the objects at the loading site. High altitude platform 200 has opposing first 240 and second 250 ends. The first end 240 and the second end 250 may be adjacent to two endpoints of the tracks 210 and 220, respectively.

In some examples, as shown in fig. 1, the automated loading and unloading system 100 may include a plurality of supports 102, and the supports 102 may support a high-altitude platform 200. These supports 102 may be fixed to the ground to supportingly support the high platform 200. In other examples, if high altitude platform 200 is located in a field having a ceiling, support members 102 may extend downwardly from the ceiling to support high altitude platform 200 in a suspended manner.

The transporter 300 can transport the cargo 101. The carrier 300 is disposed on the rails 210 and 220, and can move back and forth along the rails 210 and 220 along the first direction D1. Optionally, one or more bumpers 260 may be disposed on each of the first end 240 and the second end 250 of the high altitude platform 200. In the example shown in fig. 1, two buffers 260 are disposed at each of the first end 240 and the second end 250. These buffers 260 are located between the tracks 210 and 220. When the handler 300 moves on the rails 210 and 220 to approach the first end 240 or the second end 250 of the high altitude platform 200, the buffer 260 may prevent the handler 300 from moving further and give the handler 300 a buffering force in the first direction D1.

Fig. 2 and fig. 3 are a schematic perspective view and a system assembly diagram of a carrier of an automatic loading and unloading system according to an embodiment of the present invention. The transporter 300 mainly includes a lifting mechanism 310 and a fork 320. The forks 320 may be used to hold the load 101 as shown in fig. 1. The lifting mechanism 310 engages the forks 320 to lift the forks 320. In some examples, the lifting mechanism 310 may include a first mast 311, a second mast 312, a height adjustment hydraulic cylinder 313, and a pulley assembly 314. The second mast 312 is disposed below the first mast 311, and may be disposed parallel to the first mast 311. One end of the height adjusting hydraulic cylinder 313 is connected to the first mast 311. A sheave assembly 314 connects the first mast 311 with the second mast 312.

In some illustrative examples, the handler 300 may further include an axle support mechanism 330. The elevating mechanism 310 is provided on the shaft supporting mechanism 330, and is connected to the shaft supporting mechanism 330. For example, as shown in fig. 1 and 2, the lifting mechanism 310 may be fixed inside the shaft supporting mechanism 330 and facing the second end 250 of the high altitude platform 200. One end of the height adjustment cylinder 313 of the elevating mechanism 310 is inserted into the shaft support mechanism 330. Therefore, the opposite ends of the height adjusting cylinder 313 are connected to the first mast 311 and the shaft support mechanism 330, respectively. For example, the axle support mechanism 330 may include a recess 331. The height adjustment cylinder 313 can be inserted into the recess 331, so that the structure formed by the lifting mechanism 310 and the shaft supporting mechanism 330 can be more compact. The lifting mechanism 310 may include two height adjusting cylinders 313 opposite to each other, the shaft supporting mechanism 330 may include two recesses 331 opposite to each other, and the two height adjusting cylinders 313 are respectively disposed through the two recesses 331. In other examples, the lifting mechanism 310 may include only one height adjusting cylinder 313 correspondingly disposed in a groove 331 of the shaft supporting mechanism 330.

The forks 320 are provided on the lifting mechanism 310. As shown in fig. 2 and 3, the forks 320 may be provided on the second mast 312 of the lifting mechanism 310, for example. The lift mechanism 310 may drive the forks 320 in the second direction D2, e.g., up and down. The second direction D2 is perpendicular to the first direction D1. Specifically, when the height adjustment cylinder 313 is operated to retract or extend, the first mast 311 is driven to move along the second direction D2, and the movement of the first mast 311 drives the pulley assembly 314 to drive the second mast 312 and the forks 320 thereon to move along the second direction D2. For example, when the height adjusting cylinder 313 retracts, the first mast 311 moves downward along the second direction D2, and the pulley assembly 314 is driven, and the pulley assembly 314 further drives the second mast 311 and the fork 320 to move downward along the second direction D2.

In some examples, as shown in FIG. 3, the forks 320 may include fork members 321 a-321 f. The forks 321a to 321f are arranged side by side and spaced apart from each other in the third direction D3. Each of the prongs 321a to 321f may be L-shaped, for example. The forks 321a to 321f may be directly provided on the second mast 312. Alternatively, the forks 320 may optionally include a carrier plate 322. The bearing plate 322 is coupled to the second mast 312, and the forks 321 a-321 f are coupled to the bearing plate 322, such that the forks 321 a-321 f are indirectly coupled to the second mast 312 via the bearing plate 322. The carrier plate 322 is movable in a third direction D3. When the parking position of the truck 500 is shifted, the supporting board 322 can move along the third direction D3 to drive the forks 321 a-321 f, so that the forks 321 a-321 f can correspond to the loading position of the truck 500.

As shown in fig. 2, in some exemplary examples, the fork 320 may further include engagement plates 325 and 326, wherein the engagement plates 325 and 326 are disposed on one side of the carrier plate 322. The carrier plate 322 can move along the third direction D3 to bring the engaging plates 325 and 326. In addition, the forks 321 a-321 f may be divided into a plurality of fork sets, each fork set including a plurality of forks. For example, forks 321 a-321 c are one set, and forks 321 d-321 f are another set. One set of prongs 321a to 321c may be disposed on the engagement plate 325 and the other set of prongs 321d to 321f may be disposed on the engagement plate 326. The engaging plates 325 and 326 can move along the third direction D3 on the supporting plate 322, respectively, so as to drive the forks 321 a-321 c and the forks 321D-321 f thereon along the third direction D3, respectively, thereby adjusting the distance between two adjacent fork sets. Referring to fig. 1, when a cargo 101 is on the cargo carrying mechanism 400 and two adjacent cargo 101 may not be abutted together, the distance between two adjacent fork sets can be adjusted to more accurately correspond the position of the cargo 101 on the cargo carrying mechanism 400.

In addition, the distance between two adjacent fork members of each fork member group can be set according to actual requirements. For example, in the combination of the fork members 321 a-321 c, the distance between the fork member 321b and the fork member 321a, and the distance between the fork member 321b and the fork member 321c may be set according to the arrangement of the cargo 101 on the loading mechanism 400 as shown in fig. 1, so that the cargo 101 can be more smoothly transferred from the loading mechanism 400 to the fork members 321 a-321 f.

As shown in fig. 3, each of the forks 321a to 321f includes at least one conveyor belt 323. In some examples, each of the forks 321 a-321 f may include two conveyor belts 323, and in each of the forks 321-321 f, the conveyor belts 323 are disposed in parallel. Each of the prongs 321a to 321f has a front end 324. In some illustrative examples, the front end 324 is tapered. Referring to fig. 1, when the cargo 101 is unloaded from the forks 321a to 321f onto the loading plane 501 of the truck 500, the tapered front end 324 can reduce the height difference between the cargo 101 on the forks 321a to 321f and the loading plane 501, so as to smoothly unload the cargo 101.

In some illustrative examples of the transportation of cargo 101 using pallets, the forks 320 may be replaced with conventional fork lift equipment, such as forged flat forks. In the exemplary case of loading two loads each time but with different sizes, the loads 101 are stacked horizontally and vertically, and a pushing device (not shown) may be disposed on each fork assembly, so that the front and rear loads 101 can still be effectively attached to each other after unloading.

In some examples, as shown in fig. 3, the handler 300 may further include a base 340, a plurality of rollers 350, a rotating shaft 360, and an angle adjusting cylinder 370. The base 340 is a platform for supporting the carrier 300. The base 340 may, for example, include a two-axis clamp 341. The two shaft clamping portions 341 may be disposed at the same height and spaced apart from each other in the third direction D3. The third direction D3, the first direction D1, and the second direction D2 are perpendicular to each other.

The roller 350 is disposed on the base 340. The rollers 350 can move along the tracks 210 and 220. In some examples, the handler 300 includes four rollers 350, two of the rollers 350 are disposed on the front side of the base 340, and the other two rollers 350 are disposed on the rear side of the base 340. In some exemplary examples, two rollers 350 at the front side of the base 340 are respectively engaged with the motor M. The two motors M can respectively drive the two rollers 350 on the front side of the base 340 to roll, and further drive the two rollers 350 on the rear side of the base 340.

Referring to fig. 3, the rotating shaft 360 is inserted into the two-shaft clamping portion 341 of the base 340. For example, opposite ends of the rotating shaft 360 may pass through the two shaft clamping portions 341, respectively, whereby the shaft clamping portions 341 may clamp the rotating shaft 360. Both end portions of the rotational shaft member 360 are also engaged with the opposite sides of the shaft supporting mechanism 330, respectively.

The angle adjustment cylinder 370 is provided above the base 340. As shown in fig. 2 and 3, the carrier 300 may include two angle adjusting cylinders 370. The two angle adjusting cylinders 370 may be spaced apart from each other in the third direction D3. Two ends of each angle adjustment cylinder 370 are respectively coupled to the base 340 and the shaft support mechanism 330. The axle support mechanism 330 may have an upper portion 332 and a lower portion 333, with the upper portion 332 positioned above the lower portion 333. In some examples, the upper portion 332 is engaged with an angle adjustment cylinder 370, and the lower portion 333 is engaged with the rotary shaft 360.

The shaft support mechanism 330 is connected to the elevating mechanism 310, and the shaft support mechanism 330 is engaged with the rotary shaft 360 and the angle adjusting cylinder 370. Therefore, the actuation of the angle adjustment cylinder 370 can drive the shaft support mechanism 330 and the elevating mechanism 310 to rotate around the rotation shaft 360. For example, referring to fig. 2, when the angle adjusting cylinder 370 is contracted, the shaft supporting mechanism 330 and the lifting mechanism 310 are driven to rotate around the rotating shaft 360 in a counterclockwise direction, so that the fork 320 on the lifting mechanism 310 is lifted in a counterclockwise direction. On the other hand, the extension of the angle adjustment cylinder 370 drives the fork 320 to tilt clockwise.

In application, when the fork 320 is loaded with the cargo 101 as shown in fig. 1, the hydraulic cylinder 370 is adjusted to be contracted to raise the fork 320 in a counterclockwise direction, so that the fork 320 can support the cargo 101 more stably. When the cargo 101 is to be unloaded from the fork 320, the hydraulic cylinder 370 is adjusted by an angle adjustable by an extension so that the fork 320 is tilted forward in a clockwise direction, whereby the cargo 101 can be more smoothly unloaded from the fork 320.

The handler 300 may further include at least two optical scanners 303a and 303b and a position sensor 304 according to practical requirements. As shown in fig. 2, the optical scanners 303a and 303b and the position sensor 304 may be disposed on a base 340. For example, the base 340 may include a first cross bar 342, a second cross bar 348, a first longitudinal bar 344, and a second longitudinal bar 346. The first cross bar 342 and the second cross bar 348 are disposed opposite and substantially parallel to each other, and the first longitudinal bar 344 and the second longitudinal bar 346 are disposed opposite and substantially parallel to each other. One end of the first longitudinal bar 344 and one end of the second longitudinal bar 346 are coupled to opposite ends of the first transverse bar 342, respectively, and the other end of the first longitudinal bar 344 and the other end of the second longitudinal bar 346 are coupled to opposite ends of the second transverse bar 348, respectively. The optical scanners 303a and 303b and the position sensor 304 are disposed on the first cross bar 342, wherein the optical scanners 303a and 303b and the position sensor 304 are separated from each other in the third direction D3, and the position sensor 304 is disposed between the optical scanners 303a and 303 b.

Referring to fig. 1 and 4 together, fig. 4 is a schematic view illustrating a position above a loading plane of a scanning truck of an automatic loading and unloading system according to an embodiment of the present invention. The optical scanners 303a and 303b are configured to optically scan the trucks 500 under the tracks 210 and 220 of the high-altitude platform 200 when the transporter 300 moves to a plurality of positions, so as to respectively obtain two-dimensional contour information above the carrying plane 501 of the trucks 500 corresponding to the positions. The position sensor 304 is configured to sense the position of the transporter 300 when the transporter 300 moves on the rails 210 and 220, and acquire corresponding position information respectively. The position sensor 304 may be, for example, an infrared transceiver. Each two-dimensional profile information above the bearing plane 501 is based on the second direction D2 and the third direction D3. The two-dimensional contour information above the bearing plane 501 contains contour information of the bearing plane 501 and the relative bearing plane of the cargo on the truck 500. The matching of the two-dimensional contour information above the loading plane 501 of the truck 500 and the position information of the handler 300 can obtain the relative position information between the cargo 101 loaded on the truck 500 and the loading plane 501 of the truck 500, and the height of the loading plane 501 of the truck 500 when fully loaded.

In the present embodiment, the optical scanners 303a and 303b are respectively disposed at two sides of the base 340 along the third direction D3, so that when scanning the fully loaded truck 500, the two sides of the scanning plane can be prevented from being covered by the height of the cargo 101.

In some examples, as shown in fig. 2 and 3, the handler 300 further comprises another position sensor 305. The position sensor 305 may be disposed on the lifting mechanism 310. The position sensor 305 is configured to sense a plurality of positions of the lifting mechanism 310 in the second direction D2 when the lifting mechanism 310 moves, and obtain a plurality of corresponding position information respectively. The position sensor 305 may be, for example, an infrared transceiver.

In addition, as shown in fig. 3, the auto load and unload system 100 may also include one or more further optical scanners/cameras 390. An optical scanner/camera 390 may be provided on the pallet fork 320. In some exemplary examples, the number of the optical scanners/cameras 390 is 2, and the two optical scanners/cameras 390 are spaced apart from each other in the third direction D3. The optical scanner/camera 390 can perform optical scanning or image recognition on the truck 500 under the rails 210 and 220 while the lifting mechanism 310 moves, so as to obtain a plurality of two-dimensional profile information or images behind the carrying plane 501 of the truck 500. The two-dimensional profile information behind the carrier plane 501 may be based on the first direction D1 and the third direction D3.

The three-dimensional contour information of the truck 500 at the rear of the truck can be established by using the position information of the lifting mechanism 310 and the two-dimensional contour information or image at the rear of the bearing plane 501 acquired by the optical scanner/camera 390. That is, as shown in fig. 4, for a fully loaded truck 500, the optical scanners 303a and 303b and the position sensor 304 are collocated to obtain the information of the relative positions of the cargo 101 and the loading plane 501 of the truck 500 and the height of the loading plane 501 of the truck 500 at the full loading. The position sensor 305 on the lifting mechanism 310 can then know the position to be lowered. At this time, the position information sensed by the position sensor 305 of the lifting mechanism 310 is matched with the two-dimensional contour information or image behind the carrying plane 501 acquired by the optical scanner/camera 390, so as to establish the three-dimensional contour information behind the truck.

The automated loading and unloading system 100 may also include a plurality of derailment prevention devices 349. The derailment prevention devices 349 can be disposed on the base 340, for example, as shown in fig. 3, at least two derailment prevention devices 349 are disposed on the outer sides of the first longitudinal bar 344 and the second longitudinal bar 346 of the base 340. Each derailment prevention device 349 extends from the outer side surface of the first longitudinal bar 344 or the second longitudinal bar 346 in the second direction D2 and slightly exceeds the bottom of the first longitudinal bar 344 or the second longitudinal bar 346. When the base 340 moves on the rails 210 and 220 via the rollers 350, the derailing prevention device 349 disposed on the outer side surfaces of the first vertical bar 344 and the second vertical bar 346 can prevent the base 340 from swinging left and right and prevent the carrier 300 from overturning.

Fig. 5 is a schematic diagram of the rear of a scanning truck of an automatic loading and unloading system according to an embodiment of the present invention. After acquiring information on the relative position of the load 101 and the loading surface 501 of the truck 500 and the height of the loading surface 501 of the truck 500 at which it is fully loaded, the lifting mechanism 310 can obtain the lowering destination and move. When the optical scanner 390 is disposed on the lifting mechanism 310, the optical scanner 390 can obtain a plurality of two-dimensional contour information of the rear of the loading plane 501 of the truck 500, and the position information of the lifting mechanism 310 obtained by the position sensor 305 can be matched to establish a three-dimensional contour of the rear of the truck. When the lifting mechanism 310 is provided with the camera 390, the camera 390 can capture and analyze images when the lifting mechanism 310 descends and moves toward the target position. The purpose of the optical scanner/camera 390 is to obtain the position information of the cargo 101 on the truck 500 along the third direction D3, such as the position of the access hole of the pallet. Once this position information is obtained, the fork assemblies of the forks 320 may then be moved in the third direction D3 to make adjustments and begin unloading the cargo 101 from the truck 500. This unloading function of the automatic loading and unloading system 100 is particularly directed to trucks 500 that are not loaded by the present system, or to trucks 500 that are being transported, i.e., trucks 500 on which the cargo 101 may shift during transport.

In some examples, as shown in fig. 3, the handler 300 further optionally includes at least one clamping mechanism 380. For example, the handler 300 may include two clamping mechanisms 380. The clamping mechanism 380 may be disposed above the forks 320. The clamping mechanism 380 is configured to move in the second direction D2, thereby cooperating with the forks 320 to clamp the load 101 of fig. 1. In some exemplary instances, as shown in fig. 3, each clamping mechanism 380 may include a press 381, a support 382, and an oil pressure cylinder 383. The hold-down members 381 may be used to hold down the load 101 on the forks 320. The support 382 engages the fork 320. Two ends of the oil cylinder 383 are respectively connected with the pressing member 381 and the supporting member 382. The oil cylinder 383 is retracted to drive the pressing member 381 to move downward in the second direction D2, thereby pressing the cargo 101. When the oil cylinder 383 extends, the clamping member 381 can be driven to move upward along the second direction D2, so as to release the cargo 101.

The clamping mechanism 380 may also optionally include a slide 384. The slider 384 is connected to the presser member 381. In such an example, the support 382 has a guide groove 385 and the slider 384 is disposed within the guide groove 385. When the hydraulic cylinder 383 is actuated, the slide member 384 can slide in the guide groove 385, so that the pressing member 381 can move up and down more stably and smoothly.

In some examples, as shown in fig. 2, the handler 300 may further include an electrical box 301 and an oil hydraulic system box 302. The electrical box 301 is disposed on the base 340 and controls an electrical system of the handler 300. The hydraulic system tank 302 is also provided on the base 340, and controls the hydraulic system of the conveyor 300. The electrical box 301 and the hydraulic system box 302, and the lifting mechanism 310 and the fork 320 may be disposed on opposite sides of the rotating shaft 360, respectively, so as to maintain the balance of the center of gravity of the transporter 300.

In some examples, the automated loading and unloading system 100 may also include a loading mechanism 400. The loading mechanism 400 is configured to carry cargo 101. The loading mechanism 400 includes a conveyor platform 410. The goods 101 are placed on the conveyor platform 410. To load the cargo 101 on the loading mechanism 400 into the truck 500, the transporter 300 may be moved along the rails 210 and 220 in the first direction D1 to be above one side of the loading mechanism 400. The lifting mechanism 310 is then used to lower the forks 320 such that the forks 320 are adjacent the loading mechanism 400. At this time, the conveyor 323 of the fork 320 and the conveyor platform 410 may be operated simultaneously to transfer the goods 101 from the conveyor platform 410 to the fork 321.

With the forks 320 adjacent the loading mechanism 400, the upper surfaces of the conveyor belts 323 of the fork members 321 a-321 f of the forks 320 may be at the same height as the upper surface of the conveyor belt platform 410, or the upper surfaces of the conveyor belts 323 may be slightly below the upper surface of the conveyor belt platform 410. Thereby, when the conveyor 323 of the fork elements 321 a-321 f and the conveying platform 410 of the loading mechanism 400 are operated in the same circulation direction, e.g., clockwise, the goods 101 can be smoothly transferred from the conveyor platform 410 to the fork elements 321 a-321 f.

After the load 101 has been transferred from the conveyor platform 410 to the forks 321 a-321 f, the load 101 on the forks 320 may be initially held by the gripping mechanism 380, for example, to firmly grip the load 101 during handling. Next, the handler 300 is moved in the first direction D1 to a position above the loading plane 501 of the truck 500 on the rails 210 and 220. The lifting mechanism 310 is used to lower the forks 320 to the loading plane 501 of the truck 500, and the conveyor belts 323 of the fork members 321 a-321 f of the forks 320 are started to transfer the goods 101 on the forks 320 to the loading plane 501 of the truck 500.

When the load 101 is unloaded from the truck 500, the controller may control the moving distance of the handler 300 in the first direction D1 and the moving distance of the forks 320 in the second direction D2 and the third direction D3 according to the load information input by the user and the three-dimensional contour information above and behind the loading plane 501 after the three-dimensional contour information above and behind the loading plane 501 of the truck 500 is obtained. In this manner, the carrier 300 can be brought to the proper loading and unloading position, and the forks 320 can be lowered to the proper loading and unloading position, so that the cargo 101 can be removed from the loading plane 501 of the truck 500 and unloaded onto the transfer platform 410 of the loading mechanism 400.

In view of the above, an advantage of the present invention is that the base of the carrier of the automatic loading and unloading system is provided with the optical scanners along two lateral sides, and the base of the carrier is provided with the position sensor. Therefore, when the carrying plane of the truck is scanned, the two sides of the carrying plane can be prevented from being shielded by the height of the goods. Therefore, the information of the relative position of the goods and the bearing plane of the truck and the height of the bearing plane of the truck at the full load can be obtained for the truck which is fully loaded. Therefore, when unloading the goods, the goods can be prevented from being damaged, and the efficiency of unloading the goods can be greatly improved.

Another advantage of the present invention is that the fork of the automatic loading and unloading system of the present invention is provided with one or more other optical scanners or cameras, and the lifting mechanism of the carrier is provided with another optical sensor. Therefore, after the height information of the full loading plane of the truck is obtained, the two-dimensional contour information behind the loading plane of the truck is obtained by using another optical scanner or camera along with the descending of the fork, and the three-dimensional contour behind the truck is established by matching the position information of the lifting mechanism obtained by the position sensor on the lifting mechanism. Borrow this, can order about the fork and accurately fork the goods on the freight train, unload smoothly.

Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.

[ notation ] to show

100 automatic loading and unloading system

101 cargo

102 support part

200 high altitude platform

210: track

220: rail

240 first end

250 the second end

260 buffer

300 conveyor

301 electric box

302 oil pressure system box

303a optical scanner

303b optical scanner

304 position sensor

305 position sensor

310 lifting mechanism

311 first mast

312 second mast

313 height adjusting oil hydraulic cylinder

314 pulley assembly

320 pallet fork

321a fork

321b fork element

321c fork

321d fork

321e fork

321f fork

322 bearing plate

323 a conveyor belt

324 front end

325 joint plate

326 bonding plate

330 axle support mechanism

331: groove

332 upper part

333 lower part

340 base

341 shaft clamping part

342 is a first cross bar

344 first longitudinal rod

346 second longitudinal rod

348 second Cross Bar

349 derailment prevention device

350 roller

360 rotating shaft

370, angle adjusting oil hydraulic cylinder

380 clamping mechanism

381 pressed article

382 support piece

383 oil hydraulic cylinder

384 sliding part

385 guide groove

390 optical scanner/camera

400 cargo carrying mechanism

410 conveyor platform

500 truck

501 bearing plane

D1 first direction

D2 second direction

D3 third Direction

M is a motor.

Claims (10)

1. An automated loading and unloading system, comprising:

the high-altitude platform comprises two rails; and

a carrier disposed on the rails and configured to move on the rails along a first direction, wherein the carrier comprises:

a lifting mechanism;

the fork is arranged on the lifting mechanism, wherein the lifting mechanism is configured to drive the fork to move along a second direction, the fork comprises a plurality of fork pieces, and the fork pieces are arranged side by side at intervals;

a base including a two-axis clamping portion;

a plurality of rollers arranged on the base and configured to move on the rails;

a rotating shaft member provided on the two-shaft member holding portion;

the angle adjusting oil hydraulic cylinder is arranged above the base;

a shaft support mechanism having an upper portion engaged with the angle adjusting cylinder and a lower portion engaged with the rotary shaft member, wherein the shaft support mechanism and the elevating mechanism are connected to each other, and when the angle adjusting cylinder is actuated, the shaft support mechanism and the elevating mechanism rotate around the rotary shaft member to lift the fork in a counterclockwise direction or tilt the fork in a clockwise direction;

two optical scanners, which are arranged on the first cross bar of the base, are separated from each other in a third direction, and are configured to optically scan the truck below the rails when the transporter moves so as to obtain a plurality of two-dimensional profile information above a bearing plane of the truck, wherein each two-dimensional profile information above the bearing plane is based on the second direction and the third direction, and the first direction, the second direction and the third direction are perpendicular to each other; and

and the position sensor is arranged on the first cross rod and is configured to sense a plurality of pieces of position information of the conveyor when the conveyor moves, and three-dimensional contour information is formed by utilizing the pieces of position information of the conveyor and the pieces of two-dimensional contour information above the bearing plane.

2. The automatic loading and unloading system of claim 1, further comprising a plurality of derailment prevention devices, wherein the base further comprises a first vertical bar and a second vertical bar respectively engaged with opposite ends of the first cross bar, and at least two of the derailment prevention devices are disposed outside each of the first vertical bar and the second vertical bar.

3. The automated loading and unloading system of claim 1, wherein the lifting mechanism comprises:

a first mast;

the second mast is arranged below the first mast and is arranged in parallel with the first mast, and the fork is arranged on the second mast;

a height adjusting oil hydraulic cylinder connected with the first mast; and

a pulley assembly connecting the first mast and the second mast,

when the height adjusting hydraulic cylinder is actuated, the first mast moves along the second direction to drive the pulley assembly to drive the second mast and the fork to move along the second direction.

4. The automated loading and unloading system of claim 1, wherein each of the forks includes two belts, and the belts are arranged in parallel.

5. The automated loading and unloading system of claim 4, further comprising a loading mechanism, wherein the loading mechanism comprises a conveyor platform, the conveyors and the conveyor platform being configured to transfer cargo on the loading mechanism from the conveyor platform to the fork members when the forks are adjacent the loading mechanism.

6. The automatic loading and unloading system of claim 1, wherein the fork members are divided into a plurality of fork member sets, the fork member sets are individually movable in the third direction to adjust the spacing between the fork member sets, and the fork member sets are also movable together in the third direction.

7. The automatic loading and unloading system of claim 1, wherein the handler further comprises another position sensor disposed on the lifting mechanism and configured to sense a corresponding plurality of position information of a plurality of positions of the lifting mechanism in the second direction when the lifting mechanism moves.

8. The automatic loading and unloading system of claim 7, further comprising at least one other optical scanner or at least one camera disposed on the fork, wherein the at least one other optical scanner or the at least one camera is configured to perform optical scanning or image recognition on the truck under the tracks to obtain a plurality of two-dimensional profile information or images behind the loading plane of the truck when the lifting mechanism moves, wherein the three-dimensional profile information behind the truck is established using the position information of the lifting mechanism and the two-dimensional profile information or images behind the loading plane based on the first direction and the third direction.

9. The automatic loading and unloading system of claim 8, wherein the number of the at least one other optical scanner or the at least one camera is 2, and the at least one other optical scanner or the at least one camera are spaced apart in the third direction.

10. The automated loading and unloading system of claim 1, wherein the handler further comprises at least one gripper mechanism disposed above the forks and configured to move in the second direction to grip the load.

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