CN217498014U

CN217498014U - Loading and unloading vehicle system

Info

Publication number: CN217498014U
Application number: CN202221720291.8U
Authority: CN
Inventors: 许大红; 贾仁耀; 周文晓; 方明进
Original assignee: Hefei Taihe Intelligent Technology Group Co Ltd
Current assignee: Hefei Taihe Intelligent Technology Group Co Ltd
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-09-27
Anticipated expiration: 2032-07-04

Abstract

An embodiment of the utility model provides a loading and unloading car system, this loading and unloading car system include goods buttress conveyor, lift platform and loading and unloading car robot. The loading and unloading robot is positioned on the lifting platform and can move on the lifting platform, wherein the lifting platform can drive the loading and unloading robot to move transversely or lift so as to enable the loading and unloading robot to correspond to a carriage of the truck. The goods buttress conveyor is including carrying cumulant, transverse bracket, sideslip mechanism and the mechanism of plugging into, carries cumulant and lift platform transversely to arrange side by side, and the sideslip mechanism sets up in transverse bracket, and the mechanism of plugging into sets up in the sideslip mechanism, and the sideslip mechanism can drive the mechanism of plugging into sideslip to transport the goods buttress on the cumulant line to transport on the loading and unloading car robot through the mechanism of plugging into, perhaps transport the goods buttress on the loading and unloading car robot and transport the cumulant line. Thus, the loading and unloading robot does not need to frequently turn, and therefore loading and unloading efficiency is improved.

Description

Loading and unloading vehicle system

Technical Field

The utility model belongs to the technical field of the commodity circulation loading and unloading technique and specifically relates to a loading and unloading car system is related to.

Background

In storage logistics field, the loading and unloading car transport link of goods buttress is generally accomplished by workman's fork truck, along with the promotion of human cost and the increase of the automatic demand of commodity circulation, realizes that the automation of goods buttress loading and unloading car link is more and more urgent.

In the prior art, in order to cooperate with an automatic storage system, an AGV is applied to automatic loading and unloading operation of a stack, but the AGV used for transporting the stack needs to turn continuously to transport the stack between a carriage and a conveying accumulation line, and the turning radius is large, so that the loading and unloading operation efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a loading and unloading car system can improve handling efficiency.

In a first aspect, the utility model provides a loading and unloading vehicle system, which comprises a goods stack conveying device, a lifting platform and a loading and unloading vehicle robot;

the loading and unloading robot is positioned on the lifting platform and can move on the lifting platform, wherein the lifting platform can drive the loading and unloading robot to move transversely or lift so as to enable the loading and unloading robot to correspond to a carriage of a truck;

the goods buttress conveyor is including carrying cumulant, transverse bracket, sideslip mechanism and the mechanism of plugging into, carry the cumulant with lift platform transversely arranges side by side, the sideslip mechanism set up in transverse bracket, the mechanism of plugging into set up in the sideslip mechanism, the sideslip mechanism can drive the mechanism of plugging into sideslip, in order to pass through the mechanism of plugging into will carry goods buttress on the cumulant to transport on the loading and unloading robot, perhaps will carry goods buttress on the loading and unloading robot transport on the conveying cumulant line.

In an alternative embodiment, the traversing mechanism comprises a traversing driving piece and a traversing bracket, and the connection mechanism comprises a connection conveying piece and a connection driving piece;

the top of the traverse bracket is movably connected with the transverse bracket, the connection conveying piece and the connection driving piece are arranged at the bottom of the traverse bracket, the traverse driving piece is used for driving the traverse bracket to drive the connection conveying piece to move transversely relative to the transverse bracket so as to correspond to the conveying accumulation line or the loading and unloading robot, and the connection driving piece is used for driving the connection conveying piece to operate so as to longitudinally connect or discharge a goods stack.

In an optional embodiment, the connecting conveying member includes a plurality of connecting brackets and a conveying chain wound around each connecting bracket, the plurality of connecting brackets are arranged side by side in the transverse direction, each connecting bracket extends longitudinally and is fixedly connected to the bottom of the traverse bracket, and the connecting driving member is used for driving the conveying chain to rotate on the connecting brackets so as to take in or discharge the stacks.

In an optional embodiment, the transverse support is provided with a rail and a limiting rod extending transversely, the limiting rod is longitudinally spaced from the rail, the transverse driving member comprises a transverse sliding block, a transverse driving source and a guide wheel, the transverse sliding block is connected to the top of the transverse support and is in sliding abutment with the limiting rod, the guide wheel is rotatably arranged on the transverse sliding block and is embedded in the rail, and the transverse driving source is arranged on the transverse sliding block and is used for driving the guide wheel to roll in the rail, so that the transverse support is driven to transversely move through the sliding block.

In an alternative embodiment, the traverse mechanism further includes a plurality of position sensors for detecting the conveyance line or the loader robot, and the traverse drive is capable of driving the traverse rack based on detection results of the plurality of position sensors.

In an optional embodiment, the traverse support is provided with a distance measuring sensor and/or a limit block on two sides in the transverse direction, the distance measuring sensor is used for detecting the distance between the traverse support and one side of the traverse support in the transverse direction, the traverse driving member can stop driving the traverse support according to the detection result of the distance measuring sensor, and the limit block is used for reducing the impact of the traverse support and the traverse support during the traverse.

In an alternative embodiment, the lift truck robot includes a movement mechanism, a main frame, and a forking mechanism;

the main frame set up in moving mechanism, the fork get the mechanism set up in main frame, moving mechanism can drive main frame move on the lift platform, the fork get the mechanism can for main frame removes, thereby the fork is got the goods buttress in the carriage or is placed the goods buttress in the carriage.

In an alternative embodiment, the forking mechanism includes a fork and a fork mover;

the fork moving member set up in the main frame, the fork connect in the fork moving member, the fork moving member can drive the fork removes for the main frame.

In an alternative embodiment, the lateral bracket includes a first bracket, a second bracket, and a cross beam;

the first support and the second support are arranged at intervals in the transverse direction, the lifting platform and the conveying accumulation line are located between the first support and the second support in the transverse direction, two ends of the cross beam are connected to the tops of the first support and the second support respectively, and the transverse moving mechanism is arranged on the cross beam and can move on the cross beam in the transverse direction.

In an alternative embodiment, the conveying accumulation line comprises a conveying support extending longitudinally and a conveying mechanism provided on the conveying support for longitudinally conveying the stack of goods.

The utility model discloses beneficial effect includes:

an embodiment of the utility model provides a loading and unloading car system, this loading and unloading car system include goods buttress conveyor, lift platform and loading and unloading car robot. The loading and unloading robot is positioned on the lifting platform and can move on the lifting platform, wherein the lifting platform can drive the loading and unloading robot to move transversely or lift so as to enable the loading and unloading robot to correspond to a carriage of a truck. The goods buttress conveyor is including carrying cumulant, transverse bracket, sideslip mechanism and the mechanism of plugging into, carry the cumulant with lift platform transversely arranges side by side, the sideslip mechanism set up in transverse bracket, the mechanism of plugging into set up in the sideslip mechanism, the sideslip mechanism can drive the mechanism of plugging into sideslip, in order to pass through the mechanism of plugging into will carry goods buttress on the cumulant to transport on the loading and unloading robot, perhaps will carry goods buttress on the loading and unloading robot transport on the conveying cumulant line. Therefore, when loading operation or unloading operation is carried out, the loading and unloading robot can fork the goods stack to carry between the connecting mechanism and the carriage only by longitudinally moving back and forth on the lifting platform, the connecting mechanism moves the goods stack transversely to transfer the goods stack between the loading and unloading robot and the conveying accumulation line, and the loading and unloading robot does not need to turn frequently any more, so that the loading and unloading efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a side view of a lift truck system of an embodiment of the present invention with a truck parked;

fig. 2 is a perspective view of the loading and unloading vehicle system of the embodiment of the present invention after blanking the loading and unloading vehicle robot;

fig. 3 is a front view of the loader system according to the embodiment of the present invention after blanking the loader robot;

FIG. 4 is an enlarged view of portion A of FIG. 2;

FIG. 5 is a perspective view of the connection mechanism and the traverse bracket according to the embodiment of the present invention;

fig. 6 is a perspective view of a loading and unloading robot according to an embodiment of the present invention;

fig. 7 is a rear view of the loading and unloading robot according to the embodiment of the present invention;

FIG. 8 is a schematic view of a lift truck robot forking or putting down a stack in a carriage in accordance with an embodiment of the present invention;

fig. 9 is a schematic diagram of the position of the lifting platform and the carriage after the truck is stopped initially.

Icon: 10-a stack conveying device; 11-transport accumulation line; 110-a delivery stent; 112-a conveying mechanism; 13-a transverse bracket; 130-a first bracket; 132-a second support; 134-a cross beam; 1341-a track; 136-a stop lever; 15-a traversing mechanism; 150-a traverse drive; 1501-a traverse driving source; 1503-traversing sliding block; 1505-guide wheels; 152-traversing the rack; 1521-ranging sensor; 1523-a limiting block; 17-a docking mechanism; 176-docking the drive; 174-docking transport; 1741-docking cradle; 1743-a conveyor chain; 30-a lifting platform; 50-a loading and unloading robot; 51-a moving mechanism; 53-main frame; 55-a forking mechanism; 550-a pallet fork; 552-a fork mover; 554 — a fork drive; 57-visual collection and identification mechanism; 58-cable retraction mechanism; 59-a drive control mechanism; 70-a laser emitting device; 80-a parking pose detection device; 90-drive control means.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1 to 5, an embodiment of the present invention provides a loader system including a stack conveying device 10, a lifting platform 30, and a loader robot 50. The lift truck robot 50 is located on the lift platform 30 and can move on the lift platform 30, wherein the lift platform 30 can drive the lift truck robot 50 to move transversely or lift, so that the lift truck robot 50 corresponds to a compartment of a truck. The goods buttress conveyor 10 includes carrying cumulus 11, horizontal support 13, sideslip mechanism 15 and mechanism of plugging into 17, carry cumulus 11 with lift platform 30 transversely arranges side by side, sideslip mechanism 15 set up in horizontal support 13, mechanism of plugging into 17 set up in sideslip mechanism 15, sideslip mechanism 15 can drive mechanism of plugging into 17 sideslip, in order to through mechanism of plugging into 17 will carry the goods buttress on the cumulus 11 to transport on the loader robot 50, or will carry the goods buttress on the loader robot 50 to carry on the cumulus 11. Thus, when loading or unloading is performed, the loading and unloading robot 50 can fork the pile to transfer between the docking mechanism 17 and the carriage only by moving the lifting platform 30 in the longitudinal direction, the docking mechanism 17 moves the pile in the transverse direction to transfer the pile between the loading and unloading robot 50 and the conveying accumulation line, and the loading and unloading robot 50 does not need to turn frequently any more, thereby improving the loading and unloading efficiency.

For example, during unloading operation, the lifting platform 30 moves and lifts to drive the loading and unloading robot 50 to align with the carriage, so that the loading and unloading robot 50 forks the stacks in the carriage out by the lifting platform 30 and then retracts to make room, the traversing mechanism 15 drives the docking mechanism 17 to move to the upper side of the lifting platform 30 to pick up the stacks, and then moves to correspond to the conveying accumulation line to transfer the stacks to the conveying accumulation line 11.

When loading operation is performed, the process is opposite to the unloading operation, namely, the connecting mechanism 17 receives the stack of the goods sent from the conveying accumulation line 11, moves to the upper part of the lifting platform 30 to transfer the stack of the goods to the loading and unloading robot 50, and then the loading and unloading robot 50 transfers the stack of the goods to the carriage.

In the present embodiment, the conveying accumulation line 11 comprises a conveying support 110 and a conveying mechanism 112 arranged on the conveying support 110, the conveying support 110 extends longitudinally, the conveying mechanism 112 is used for longitudinally conveying the stacks, wherein the conveying mechanism 112 can be a longitudinally extending chain conveyor, and a plurality of groups of chain conveyors arranged transversely in parallel are arranged on the conveying support 110, so that the longitudinal conveying of the stacks is realized, and the stacks are conveyed to the docking mechanism 17 or the stacks conveyed by the docking mechanism 17 are conveyed to the rear side.

The lifting platform 30 is provided with a height detection sensor, the height detection sensor is used for detecting the height difference between the table top of the lifting platform 30 and the bottom surface of the carriage, and the lifting platform 30 can drive the loading and unloading robot 50 to lift according to the detection result of the height detection sensor, so that the too one surface of the lifting platform 30 is flush with the bottom surface of the carriage, and the loading and unloading robot 50 can smoothly enter the carriage or exit from the carriage.

The transverse support 13 comprises a first support 130, a second support 132 and a cross beam 134, the first support 130 and the second support 132 are arranged at intervals transversely, the lifting platform 30 and the conveying accumulation line 11 are positioned between the first support 130 and the second support 132 in the transverse direction, two ends of the cross beam 134 are respectively connected to the tops of the first support 130 and the second support 132, so that a gantry structure is formed, the transverse moving mechanism 15 is arranged on the cross beam 134 and can move transversely on the cross beam 134, and the goods stack can be transferred between the conveying accumulation line 11 and the loading and unloading vehicle robot 50.

The traversing mechanism 15 includes a traversing driving member 150, a traversing bracket 152, and the docking mechanism 17 includes a docking conveying member 174 and a docking driving member 176. The top of the traverse bracket 152 is movably connected to the transverse bracket 13, the transfer connector 174 and the transfer connector 176 are disposed at the bottom of the traverse bracket 152, the traverse connector 150 is used for driving the traverse bracket 152 to drive the transfer connector 174 to move transversely relative to the transverse bracket 13 so as to correspond to the conveying accumulation line 11 or the loading and unloading robot 50, and the transfer connector 176 is used for driving the transfer connector 174 to operate so as to longitudinally take in or discharge a cargo stack.

The docking conveyor 174 may be a plurality of chain conveyors, that is, the docking conveyor 174 includes a plurality of docking brackets 1741 and a conveying chain 1743 wound on each of the docking brackets 1741, the plurality of docking brackets 1741 are laterally arranged side by side, each of the docking brackets 1741 extends longitudinally and is fixedly connected to the bottom of the traverse bracket 152, and the docking driving member 176 is used for driving the conveying chain 1743 to rotate on the docking bracket 1741 to pick up or discharge a stack of goods.

The driving member 176 may be a servo motor, so that the supporting roller disposed on the connecting bracket 1741 may be driven to rotate by belt transmission, chain transmission, gear transmission, etc., so that the supporting roller drives the conveying chain 1743 disposed on the supporting roller to rotate, and the stack of goods is taken or output.

Of course, to transport a greater number of stacks simultaneously, the docking drive 176 may be multiple to increase the load.

The transverse bracket 13 is provided with a rail 1341 and a limit rod 136 extending transversely, that is, the transverse bracket 13 further comprises the limit rod 136, the cross beam 134 is provided with the rail 1341, the limit rod 136 is arranged on the cross beam 134 and is longitudinally spaced from the rail 1341, the transverse driving member 150 comprises a transverse slider 1503, a transverse driving source 1501 and a guide wheel 1505, the transverse slider 1503 is connected to the top of the transverse bracket 152 and is in sliding contact with the limit rod 136, the guide wheel 1505 is rotatably arranged on the transverse slider 1503 and is embedded in the rail 1341, the transverse driving source 1501 can be a motor, is arranged on the transverse slider 1503 and is in transmission connection with the guide wheel 1505 and is used for driving the guide wheel 1505 to roll in the rail 1341, so that the transverse movement of the transverse bracket 152 is realized by driving the slider to transversely move, thereby realizing the transverse movement of the connection conveying member 174.

In this embodiment, the number of the traverse driving members 150 is two or more, and the traverse driving members 150 drive the traverse bracket 152 to move in the lateral direction, so that the docking mechanism 17 can load a large number of stacks at one time, and the efficiency of loading and unloading the truck is improved.

The traverse mechanism 15 further comprises a plurality of position sensors, the position sensors are used for detecting the conveying accumulation line 11 or the loading and unloading robot 50, and the traverse driving piece 150 can drive the traverse bracket 152 according to the detection results of the plurality of position sensors, so that the docking position of the docking mechanism 17 and the conveying accumulation line 11 or the loading and unloading robot 50 is accurate, and the loading and unloading precision is guaranteed.

The distance measuring sensors 1521 and/or the limiting blocks 1523 are respectively arranged on two lateral sides of the traverse bracket 152, the distance measuring sensors 1521 are used for detecting the distance between the traverse bracket 152 and one lateral side of the lateral bracket 13 in the lateral direction, and the traverse driving member 150 can stop driving the traverse bracket 152 according to the detection result of the distance measuring sensors 1521, so that the impact force on the first bracket 130 or the second bracket 132 when the traverse bracket 152 traverses on the cross beam 134 is reduced, and the stability of the whole structure is protected. The stop block 1523 is used for reducing the impact of the traverse bracket 152 with the first bracket 130 and the second bracket 132 of the traverse bracket 13 during the traverse, so as to ensure the stability of the whole structure.

Referring to fig. 6 and 7, the loader robot 50 includes a moving mechanism 51, a main frame 53, and a fork mechanism 55. The main frame 53 is arranged on the moving mechanism 51, the forking mechanism 55 is arranged on the main frame 53, the moving mechanism 51 can drive the main frame 53 to move on the lifting platform 30, and the forking mechanism 55 can move relative to the main frame 53, such as lifting, traversing, pitching and the like, so as to fork the stacks in the carriage or place the stacks in the carriage.

The moving mechanism 51 may be a crawler chassis to carry the main frame 53 and various components on the main frame 53, and to move the main frame 53 on the lifting platform 30 to enter or exit the car.

For example, a rubber crawler chassis can be adopted, the bearing capacity is high, the rubber crawler chassis can adapt to unequal images of a carriage, the double servo motors and the matched speed reducer are adopted for driving, the power is enough, the load can be further improved, the loading and unloading robot 50 can fork and take a large number of stacks at a time, and the loading and unloading efficiency is improved.

The forking mechanism 55 includes forks 550 and fork movers 552, and the lift robot 50 also includes a fork drive 554. The fork moving member 552 is disposed on the main frame 53, the fork 550 is connected to the fork moving member 552, and the fork driving member 554 is disposed on the main frame 53, and is configured to drive the fork moving member 552 to drive the fork 550 to move, such as to lift, traverse, pitch, and the like, relative to the main frame 53, so as to fork the pallet by the fork 550, wherein the fork 550 can be correspondingly shaped according to the structure of the pallet tray.

In this embodiment, fork moving member 552 is more than two, and every fork moving member 552 is connected with a fork 550, and two fork moving members 552 can independent operation to adjust the relative position of each fork 550 according to the lateral position of a plurality of stacks, thereby loading and unloading car robot 50 can once fork and get a large amount of stacks, improves handling efficiency.

The loading and unloading vehicle system further comprises a laser emitting device 70, wherein the laser emitting device 70 comprises a laser support and a laser emitter, the laser support is arranged on the lifting platform 30, the laser emitter is arranged on the laser support, and the laser support can drive the laser emitter to finely move or rotate relative to the lifting platform 30 so as to adjust laser rays emitted by the laser emitter to the central axis of the carriage. The loading and unloading robot 50 further comprises a visual collection and identification mechanism 57, wherein the visual collection and identification mechanism 57 is arranged at a position, close to the laser emitting device 70, of the main frame 53 and used for collecting and identifying images of laser lines emitted by the laser emitting device, and the moving member is used for driving the main frame 53 to move along the direction of the laser lines according to a processing result of the visual collection and identification mechanism 57. Therefore, the traveling path of the loading and unloading robot 50 can be approximately coincident with the central axis of the carriage under the combined action of the laser emitting device 70 and the visual acquisition and recognition device, and the accuracy of taking and delivering the goods stack by the loading and unloading robot 50 is guaranteed.

In this embodiment, the fork drives 554 may be hydraulic pumping stations to meet heavy load demands.

The loader robot 50 further comprises a cable retracting mechanism 58, and the cable retracting mechanism 58 is used for retracting and releasing a power cable in a traveling mode, so that the cable is prevented from being dragged and abraded on the lifting platform 30 or in a carriage in the traveling process of the loader robot 50.

The loading and unloading robot 50 further comprises a driving control mechanism 59, wherein the driving control mechanism 59 is a vehicle-mounted control center of the loading and unloading robot 50 and is mainly used for sending commands to control relevant execution mechanisms to realize relevant functions and detecting and processing relevant detection sensing information.

The loading and unloading vehicle system further comprises a parking pose detection device 80 and a driving control device 90, wherein the parking pose detection device is arranged on two sides of the front portion of the lifting platform 30 and used for detecting deviation values of a carriage of a truck, the lifting platform 30 and the goods stack conveying device 10 after the truck is parked in a waiting operation area, and guiding the system to adjust connection positions of the lifting platform 30 and the transverse transferring and stacking device so as to accurately take and place the goods stacks. The driving control device 90 is used for controlling and driving the whole goods pile conveying device 10, the laser emitting device 70 and the lifting platform 30 to complete the operation action, and completing the information interaction with the vehicle-mounted driving control mechanism 59 on the loading and unloading robot 50.

With reference to fig. 8 and 9, the following provides an exemplary brief description of the operation of the loader system according to the embodiment of the present invention:

(1) after the truck is parked, a parking detection device arranged at the front part of the lifting platform 30 detects an offset value D1 of the central axis of the vehicle relative to the central axis of the lifting platform 30;

(2) d1 is transversely moved and adjusted by the lifting platform 30, and meanwhile, the laser support is transversely moved and rotated on the lifting platform 30 to adjust the direction and the angle of a laser line emitted by the laser emitter so that the laser line is superposed with the central axis of the carriage;

(3) a fork truck or an AGV or a vertical warehouse places the stack on the conveying accumulation line 11 from the rear part of the conveying accumulation line 11, and caches the stack to be loaded;

(4) the transverse moving mechanism 15 drives the connecting mechanism 17 to transfer the stacks to the forking position of the loading and unloading robot 50, the forks 550 of the loading and unloading robot 50 are driven by the fork moving piece 552 driven by the fork driving piece 554 to take off the stacks, and the transverse moving mechanism 15 drives the connecting mechanism 17 to return and receive the stacks on the conveying accumulation line 11 again;

(5) the loading and unloading robot 50 is driven into the carriage from the lifting platform 30;

(6) a vision acquisition and recognition device on the loading and unloading robot 50 acquires the running path deviation of the loading and unloading robot 50 in real time and guides the running adjustment;

(7) the loading and unloading robot 50 can detect the distance between the loading and unloading robot 50 and the front carriage wall or the goods stack in real time through a first detection piece arranged at the front part of the main frame 53, and stops after reaching a set stacking position;

(8) the loader robot 50 stacks the stack of goods in the car;

(9) the loading and unloading robot 50 retreats from the carriage to the lifting platform 30, the transverse transfer stacking device transfers the goods stack to the stack taking position again, and the loading and unloading robot 50 repeats the actions of fork goods stack taking, conveying, traveling and carrying and stacking until the task of loading and stacking is completed.

The unloading process comprises the following steps:

(1) after the dump truck is parked, the parking pose detection device 80 detects an offset value D1 of the central axis of the carriage relative to the central axis of the goods stack conveying line;

(3) the loading and unloading robot 50 is driven into the carriage from the lifting platform 30;

(4) the loading and unloading robot 50 can detect the distance between the loading and unloading robot 50 and the front goods stack in real time through a first detection piece arranged at the front part of the main frame 53, and stops after reaching the set stacking position;

(5) the loading and unloading robot 50 can take a picture through a depth vision camera arranged at the front part of the main frame 53 to obtain the image and the depth information of a front cargo stack and a pallet, obtain the transverse offset of a left pallet and a right pallet which are DL1 and DR1 respectively, and guide the loading and unloading robot 50 to adjust the position of a fork 550;

(6) the loading and unloading robot 50 moves forward to fork the stack;

(7) the loading and unloading robot 50 retreats to unload the goods stack out of the carriage and retreat onto the lifting platform 30;

(8) the transverse moving mechanism 15 drives the connection mechanism 17 to move to the connection position;

(9) the loading and unloading robot 50 places the unloaded goods stack on the connecting mechanism 17, the transverse moving mechanism 15 drives the connecting mechanism 17 to return, and the goods stack is conveyed to the conveying accumulation line 11;

(10) a forklift or an AGV or a vertical warehouse receives the goods stack from the full stack conveying accumulation line 11;

(11) the loading and unloading robot 50 drives into the carriage to continue the unloading operation, and repeats the next recognition, forking, transportation and stacking actions until the unloading task is completed.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A loading and unloading vehicle system is characterized by comprising a cargo stack conveying device, a lifting platform and a loading and unloading vehicle robot;

2. The lift truck system of claim 1, wherein said traversing mechanism comprises a traversing drive, a traversing carriage, and said docking mechanism comprises a docking conveyor and a docking drive;

3. The lift truck system of claim 2, wherein said docking conveyor includes a plurality of docking legs and a conveyor chain wrapped around each of said docking legs, said plurality of docking legs being laterally juxtaposed, each of said docking legs extending longitudinally and being fixedly attached to a bottom of said traversing leg, said docking drive being adapted to rotate said conveyor chain on said docking legs to dock or eject a stack of goods.

4. The lift truck system of claim 2, wherein the lateral support includes a rail extending laterally and a stop bar longitudinally spaced from the rail, the traverse drive includes a traverse slider coupled to a top of the traverse support and slidably abutting the stop bar, a traverse drive source rotatably mounted to the traverse slider and embedded in the rail, and a guide wheel rotatably mounted to the traverse slider for driving the guide wheel to roll within the rail to traverse the traverse support via the slider.

5. The lift truck system of claim 2, wherein the traverse mechanism further includes a plurality of position sensors for detecting the conveyor line or the lift truck robot, the traverse drive being capable of driving the traverse support based on detection results of the plurality of position sensors.

6. The lift truck system of claim 2, wherein the traverse support is provided with a distance measuring sensor for detecting a distance in the lateral direction between the traverse support and one side of the traverse support and/or a stopper for reducing an impact of the traverse support with the traverse support at the time of traverse, respectively, the traverse drive member being capable of stopping driving of the traverse support based on a detection result of the distance measuring sensor.

7. The lift truck system of claim 1, wherein said lift truck robot includes a movement mechanism, a main frame, and a forking mechanism;

8. The handler system of claim 7, wherein the forking mechanism includes a fork and a fork mover;

the fork moving member is arranged on the main frame, the fork is connected to the fork moving member, and the fork moving member can drive the fork to move relative to the main frame.

9. The lift truck system of claim 1, wherein the lateral support includes a first support, a second support, and a cross-member;

10. The lift truck system of claim 1, wherein the transport accumulation line includes a transport support extending longitudinally and a transport mechanism disposed on the transport support for longitudinally transporting the stack.