CN221026474U - Automatic loading and unloading vehicle - Google Patents
Automatic loading and unloading vehicle Download PDFInfo
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- CN221026474U CN221026474U CN202322588178.XU CN202322588178U CN221026474U CN 221026474 U CN221026474 U CN 221026474U CN 202322588178 U CN202322588178 U CN 202322588178U CN 221026474 U CN221026474 U CN 221026474U
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Abstract
The utility model discloses an automatic loading and unloading vehicle, which comprises: a movable chassis; the conveying mechanism is arranged on the movable chassis and is movably matched with the movable chassis along a first direction; the portal frame is arranged on the movable chassis through an adjusting component, and the adjusting component drives the portal frame to move along the first direction and the second direction; at least one 3D vision system, the 3D vision system being disposed on the gantry; and the loading and unloading mechanical arm is arranged on the portal frame. The utility model has the advantages of automatic loading and unloading, time and labor saving, work efficiency improvement, labor cost reduction and avoidance of injury of workers during loading and unloading of heavy goods.
Description
Technical Field
The utility model relates to the technical field of warehouse logistics, in particular to an automatic loading and unloading vehicle.
Background
With the development of the warehouse logistics industry, industry competition tends to be white-hot, and under the background of aggravation of ageing, difficulty in recruitment and increase of labor cost, the requirement for realizing automatic loading and unloading of goods in a container in an automatic mode is more and more urgent.
The container scene has the characteristics of narrow space, irregular internal goods stack type and different sizes, shapes and weights of the goods, and the existing automatic loading and unloading equipment on the market can not meet the application scene at present and can only automatically load and unload the goods with unified box type, smaller size, lighter weight and regular stack type. The traditional non-automatic method is to manually enter the container to carry out loading and unloading operations, and the traditional method has the problems of more people, low efficiency, high labor intensity and severe working environment, and the automatic method is highly required to replace the manual loading and unloading operation in more complex scenes.
Disclosure of utility model
Aiming at the existing problems, the automatic loading and unloading vehicle aims at providing an automatic loading and unloading vehicle, realizing automatic operation, improving the working efficiency and reducing the labor cost.
The specific technical scheme is as follows:
A truck, comprising:
A movable chassis;
The conveying mechanism is arranged on the movable chassis and is movably matched with the movable chassis along a first direction;
The portal frame is arranged on the movable chassis through an adjusting component, and the adjusting component drives the portal frame to move along the first direction and the second direction;
at least one 3D vision system, the 3D vision system being disposed on the gantry;
And the loading and unloading mechanical arm is arranged on the portal frame.
The automatic loading and unloading vehicle is characterized in that a first guide rail is arranged on the movable chassis, and the conveying mechanism is in sliding fit with the first guide rail.
The automatic loading and unloading vehicle comprises a first conveying assembly, a second conveying assembly and a telescopic roller assembly which are sequentially connected, wherein the second conveying assembly is in sliding fit with the first guide rail, the first conveying assembly is rotationally connected with the second conveying assembly, one end of the telescopic roller assembly is fixedly connected with the other end of the second conveying assembly, and the other end of the telescopic roller assembly is fixedly connected with the movable chassis;
the conveying mechanism further includes: and the first driving assembly drives the second conveying assembly to be in sliding fit along the first direction.
The above-mentioned automatic loader, wherein, flexible roller subassembly includes: the rollers are arranged in parallel along the first direction, and two adjacent rollers are connected through a hinge assembly;
The hinge assembly includes: the device comprises a roller, a first hinging rod and a second hinging rod, wherein one end of the first hinging rod is hinged with one end of the roller, one end of the second hinging rod is hinged with one end of the other roller, and the middle part of the first hinging rod is hinged with the middle part of the second hinging rod.
The automatic loading and unloading vehicle is characterized in that guide plates are arranged on two sides in the movable chassis, arc-shaped guide grooves are formed in the guide plates, guide rods are rotatably connected to two sides of the bottom of the first conveying assembly, and the end parts of the guide rods are movably arranged in the arc-shaped guide grooves;
The one end that arc guide way is close to flexible roller subassembly is less than the one end that arc guide way kept away from flexible roller subassembly.
The above-mentioned truck, wherein, the regulation subassembly includes: the portal frame is in sliding fit with the two second guide rails;
The above-mentioned automatic loader, wherein, the lifting assembly includes: the lifting columns are arranged on the movable chassis, the two mounting frames are respectively arranged on the lifting columns, the two mounting frames are arranged in parallel, and the two second guide rails are respectively arranged on the two mounting frames;
The mounting frames are respectively provided with a second driving assembly, and the second driving assemblies drive the portal frames to slide along the first direction;
And a third driving assembly is arranged in the lifting upright post and drives the mounting frame to move along the second direction.
The automatic loading and unloading vehicle is characterized in that the 3D vision system is connected with the portal frame through a telescopic assembly, and the telescopic assembly drives the 3D vision system to stretch and retract along the first direction;
The telescoping assembly includes: the telescopic device comprises a telescopic shell and a fourth driving assembly, wherein one end of the telescopic shell is connected with the portal frame, the other end of the telescopic shell is connected with the 3D vision system, the fourth driving assembly is arranged in the telescopic shell, and the fourth driving assembly drives the 3D vision system to move along the first direction.
The above-mentioned automatic loader, wherein still includes: the control system is in signal connection with the first driving assembly, the second driving assembly, the third driving assembly, the fourth driving assembly, the 3D vision system, the loading and unloading mechanical arm, the first conveying assembly and the second conveying assembly.
A method comprising the truck of any one of the preceding claims, the method comprising:
Step A1: the control system controls the movable chassis to advance so that the automatic loading and unloading vehicle enters the container;
step A2: the control system controls the adjusting assembly to drive the portal frame to rise to a set distance and then stop;
Step A3: after the 3D vision system extends out of a set distance, the control system controls the telescopic assembly to take a photograph of the outermost layer of the box goods, and the photograph is uploaded to the control system;
Step A4: the control system controls the second driving assembly to drive the portal frame to move towards the first direction so as to enable the loading and unloading mechanical arm to enter a working range;
Step A5: the loading and unloading mechanical arm pulls the box cargoes to the first conveying assembly, the box cargoes are sequentially conveyed to the second conveying assembly and the telescopic roller assembly along the first conveying assembly, and the current unloading process is completed;
Step A6: the loading and unloading mechanical arm continues to pull the outermost layer of the box cargoes until all the box cargoes on unloading, if the whole unloading process in the container is not finished, the step A7 is executed, and if the whole unloading process in the container is finished, the step A8 is executed;
Step A7: the control system controls the movable chassis to advance, controls the 3D vision system to scan and photograph the box goods on the outermost layer again, uploads the box goods to the control system, and returns to the step A4;
Step A8: the control system controls the movable chassis to retreat outside the container.
Compared with the prior art, the technical scheme has the following positive effects:
The utility model has the advantages of automatic loading and unloading, time and labor saving, work efficiency improvement, labor cost reduction and avoidance of injury of workers during loading and unloading of heavy goods.
Drawings
FIG. 1 is a schematic view of the overall construction of a truck according to the present utility model;
FIG. 2 is a schematic view of the overall construction of a truck according to the present utility model;
FIG. 3 is an enlarged view of a portion of the truck of FIG. 1 according to the present utility model;
FIG. 4 is a rear elevational view of a truck according to the present utility model;
FIG. 5 is an enlarged view of a portion of the truck of FIG. 1 according to the present utility model;
In the accompanying drawings: 1. a movable chassis; 2. a conveying mechanism; 3. a portal frame; 4. a 3D vision system; 5. a loading and unloading mechanical arm; 6. an adjustment assembly; 7. a telescoping assembly; 11. a first guide rail; 12. a guide plate; 13. an arc-shaped guide groove; 14. a guide rod; 21. a first transport assembly; 22. a second transport assembly; 23. a telescoping roller assembly; 231. a first hinge lever; 232. a second hinge lever; 233. a roller; 61. a lifting assembly; 62. a second guide rail; 63. lifting the upright post; 64. a mounting frame; 65. a second drive assembly; 71. a telescoping housing.
Detailed Description
The utility model is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1 to 5, there is shown a truck of a preferred embodiment, comprising: the automatic loading and unloading device comprises a movable chassis 1, a conveying mechanism 2, a portal frame 3, at least one 3D vision system 4 and at least one loading and unloading mechanical arm 5, wherein the conveying mechanism 2 is arranged on the movable chassis 1, the conveying mechanism 2 is movably matched with the movable chassis 1 along a first direction, the portal frame 3 is arranged on the movable chassis 1 through an adjusting component 6, the adjusting component 6 drives the portal frame 3 to move along the first direction and a second direction, the 3D vision system 4 is arranged on the portal frame 3, and the loading and unloading mechanical arm 5 is arranged on the portal frame 3.
Preferably, the mobile chassis 1 is a crawler chassis.
The crawler chassis adopted by the utility model has low gravity center, good stability and large bearing capacity, and can ensure the stability of the mechanical arm during operation.
Preferably, the loading and unloading mechanical arm adopts a hoisting mechanical arm, so that more space is reserved for the conveying belt, the width of the conveying belt is increased, the loading and unloading operation of a large box cargo can be compatible while the loading and unloading operation of a small box cargo is met, and the cargo compatibility is stronger.
Further, as a preferred embodiment, the movable chassis 1 is provided with a first guide rail 11, and the conveying mechanism 2 is slidably matched with the first guide rail 11.
Further, as a preferred embodiment, the conveying mechanism 2 includes a first conveying assembly 21, a second conveying assembly 22 and a telescopic roller assembly 23 which are sequentially connected, the second conveying assembly 22 is in sliding fit with the first guide rail 11, the first conveying assembly 21 is rotationally connected with the second conveying assembly 22, one end of the telescopic roller assembly 23 is fixedly connected with the other end of the second conveying assembly 22, and the other end of the telescopic roller assembly 23 is fixedly connected with the movable chassis 1.
Further, as a preferred embodiment, the conveying mechanism 2 further includes: the first drive assembly drives the second transport assembly 22 in a sliding fit in a first direction.
The first driving component and the second conveying component 22 are combined and matched, so that the first conveying component 21 and the second conveying component 22 can advance and lift synchronously, an output power source is reduced, the structure is simple, and the transmission efficiency is high.
The foregoing is merely a preferred embodiment of the present utility model, and is not intended to limit the embodiments and the protection scope of the present utility model.
The present utility model has the following embodiments based on the above description:
In a further embodiment of the present utility model, and with continued reference to FIGS. 1-5, the telescoping roller assembly 23 comprises: the rollers 233 are arranged in parallel along the first direction, and two adjacent rollers are connected through a hinge assembly.
In a further embodiment of the present utility model, a hinge assembly includes: the first hinge rod 231 and the second hinge rod 232, one end of the first hinge rod 231 is hinged with one end of one roller 233, one end of the second hinge rod 232 is hinged with one end of the other roller 233, and the middle part of the first hinge rod 231 is hinged with the middle part of the second hinge rod 232.
The other end of the first hinge lever 231 of one hinge assembly is hinged to the other end of the second hinge lever 232 of the latter hinge assembly, and the other end of the second hinge lever 232 of the one hinge assembly is hinged to one end of the first hinge lever 231 of the former hinge assembly.
In a further embodiment of the utility model, guide plates 12 are arranged on two sides in the movable chassis 1, arc-shaped guide grooves 13 are arranged on the guide plates 12, two sides of the bottom of the first conveying component 21 are rotatably connected with guide rods 14, and the end parts of the guide rods 14 are movably arranged in the arc-shaped guide grooves 13.
In a further embodiment of the utility model, the end of the arcuate guide slot 13 adjacent the telescoping roller assembly 23 is lower than the end of the arcuate guide slot 13 remote from the telescoping roller assembly 23.
Preferably, the first conveying component 21 and the second conveying component 22 are used for conveying belts to stretch out forward to lift to be close to high-level box cargoes, so that the carrying paths of the mechanical arms and the falling heights of the box cargoes are reduced, damage to the box cargoes is relieved, unloading efficiency is improved, the telescopic roller component 23 is arranged above the crawler-type chassis and is connected with the second conveying component 22, the telescopic roller component 23 is characterized in that the telescopic roller component 23 can be contracted in a lifting mode, and when the front-end first conveying component 21 and the front-end second conveying component 22 move forwards and backwards, the conveying lines are prevented from being broken, and the transportation of cargoes is affected.
In a further embodiment of the utility model, the adjustment assembly 6 comprises: the lifting assembly 61 and at least two second guide rails 62 arranged on the lifting assembly 61, and the portal frame 3 is in sliding fit with the two second guide rails 62.
In a further embodiment of the present utility model, the lifting assembly 61 comprises: a plurality of lift stand 63 and two mounting brackets 64, a plurality of lift stand 63 are all installed on movable chassis 1, and two mounting brackets 64 are installed respectively on a plurality of lift stand 63, and two mounting brackets 64 parallel arrangement, two second guide rails 62 are installed respectively on two mounting brackets 64.
Preferably, the lifting upright post 63 is used for lifting or lowering the portal frame, improving the working range of the six-axis loading and unloading mechanical arm, being convenient for adapting to containers with different heights, controlling the heights of the portal frame and the mechanical arm module, and being capable of adapting to the loading and unloading tasks of containers with different heights.
Preferably, the loading and unloading mechanical arm 5 is hoisted on the portal frame 3, so that space occupation is reduced, the first conveying assembly 21 and the second conveying assembly 22 are widened, and loading and unloading operations of small-piece boxes and cargoes can be met, and meanwhile loading and unloading operations of large-piece boxes and cargoes can be compatible.
The first conveyor assembly 21 and the second conveyor assembly 22 are both belt conveyors.
In a further embodiment of the present utility model, the mounting frames 64 are provided with second driving assemblies 65, and the second driving assemblies 65 drive the gantry 3 to slide along the first direction. Preferably, the working range and the flexibility of the mechanical arm can be improved, and the mechanical arm is suitable for loading and unloading tasks of different box types and different box loading positions.
In a further embodiment of the present utility model, a third driving assembly is disposed in the lifting column 63, and the third driving assembly drives the mounting frame 64 to move along the second direction.
In a further embodiment of the utility model, the 3D vision system 4 is connected to the gantry 3 by a telescopic assembly 7, the telescopic assembly 7 driving the 3D vision system 4 to telescope in a first direction.
In a further embodiment of the utility model, the telescopic assembly 7 comprises: the telescopic shell 71 and fourth drive assembly, the one end and the portal frame 3 of telescopic shell 71 are connected, and the other end and the 3D vision system 4 of telescopic shell 71 are connected, and in the telescopic shell 71 was located to fourth drive assembly, fourth drive assembly drive 3D vision system 4 was along the activity of first direction.
Preferably, the first drive assembly, the second drive assembly 65, the third drive assembly, and the fourth drive assembly may be one of a cylinder or a conventional worm gear drive structure.
In a further embodiment of the utility model, the truck further comprises: the control system is in signal connection with the first driving assembly, the second driving assembly, the third driving assembly, the fourth driving assembly, the 3D vision system 4, the loading and unloading mechanical arm 5, the first conveying assembly 21 and the second conveying assembly 22.
Preferably, the truck further comprises: the laser radar is arranged on the front side and the top of the automatic loading and unloading vehicle and used for keeping the automatic loading and unloading vehicle and the internal frame of the container cargo container at a safe distance to prevent equipment from being deviated and damaging the container cargo.
The utility model can realize the automatic loading and unloading task of various box cargoes with different box sizes.
The container is automatically loaded and unloaded, so that time and labor are saved, loading and unloading efficiency is improved, labor cost is reduced, and injury phenomenon in the manual carrying process is avoided.
The working principle of the method of the utility model is described below:
Step A1: the control system controls the movable chassis 1 to advance, so that the automatic loading and unloading vehicle enters the container, and the front safety distance is determined by the laser radar and then stopped;
Step A2: the control system controls the adjusting component 6 to drive the portal frame 3 to ascend, and the top safety distance is determined by the laser radar and then stopped;
Step A3: after the 3D vision system 4 extends out of the set distance, the control system controls the telescopic component 7 to take a photograph of the outermost layer of the box goods, and the photograph is uploaded to the control system;
Step A4: the control system controls the second driving assembly to drive the portal frame 3 to move towards the first direction so as to enable the loading and unloading mechanical arm 5 to enter the working range;
Step A5: the loading and unloading mechanical arm 5 pulls the box cargoes to the first conveying assembly 21, the box cargoes are sequentially conveyed to the second conveying assembly 22 and the telescopic roller assembly 23 along the first conveying assembly 21, and the current unloading process is completed;
Step A6: the loading and unloading mechanical arm 5 continues to pull the outermost layer of box cargoes until all the outermost layer of box cargoes are unloaded, if the whole unloading process in the container is not finished, the step A7 is executed, and if the whole unloading process in the container is finished, the step A8 is executed;
Step A7: the control system controls the movable chassis to advance, the control system controls the 3D vision system to scan and photograph the box goods on the current outermost layer again, the box goods are uploaded to the control system, and the step A4 is returned;
Step A8: the control system controls the movable chassis to retreat outside the container.
The foregoing description is only illustrative of the preferred embodiments of the present utility model and is not to be construed as limiting the scope of the utility model, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present utility model, and are intended to be included within the scope of the present utility model.
Claims (9)
1. A truck, comprising:
A movable chassis;
The conveying mechanism is arranged on the movable chassis and is movably matched with the movable chassis along a first direction;
The portal frame is arranged on the movable chassis through an adjusting component, and the adjusting component drives the portal frame to move along the first direction and the second direction;
at least one 3D vision system, the 3D vision system being disposed on the gantry;
And the loading and unloading mechanical arm is arranged on the portal frame.
2. The truck of claim 1 wherein said movable chassis is provided with a first rail and said conveyor is in sliding engagement with said first rail.
3. The truck of claim 2, wherein the conveying mechanism comprises a first conveying assembly, a second conveying assembly and a telescopic roller assembly which are sequentially connected, the second conveying assembly is in sliding fit with the first guide rail, the first conveying assembly is rotationally connected with the second conveying assembly, one end of the telescopic roller assembly is fixedly connected with the other end of the second conveying assembly, and the other end of the telescopic roller assembly is fixedly connected with the movable chassis;
the conveying mechanism further includes: and the first driving assembly drives the second conveying assembly to be in sliding fit along the first direction.
4. A truck according to claim 3, wherein the telescoping roller assembly comprises: the rollers are arranged in parallel along the first direction, and two adjacent rollers are connected through a hinge assembly;
The hinge assembly includes: the device comprises a roller, a first hinging rod and a second hinging rod, wherein one end of the first hinging rod is hinged with one end of the roller, one end of the second hinging rod is hinged with one end of the other roller, and the middle part of the first hinging rod is hinged with the middle part of the second hinging rod.
5. The automatic loading and unloading vehicle according to claim 4, wherein guide plates are arranged on two sides in the movable chassis, arc-shaped guide grooves are formed in the guide plates, two sides of the bottom of the first conveying assembly are rotatably connected with guide rods, and the end parts of the guide rods are movably arranged in the arc-shaped guide grooves;
The one end that arc guide way is close to flexible roller subassembly is less than the one end that arc guide way kept away from flexible roller subassembly.
6. The truck of claim 5 wherein said adjustment assembly comprises: the lifting assembly and the at least two second guide rails are arranged on the lifting assembly, and the portal frame is in sliding fit with the two second guide rails.
7. The lift truck of claim 6, wherein the lift assembly comprises: the lifting columns are arranged on the movable chassis, the two mounting frames are respectively arranged on the lifting columns, the two mounting frames are arranged in parallel, and the two second guide rails are respectively arranged on the two mounting frames;
The mounting frames are respectively provided with a second driving assembly, and the second driving assemblies drive the portal frames to slide along the first direction;
And a third driving assembly is arranged in the lifting upright post and drives the mounting frame to move along the second direction.
8. The truck of claim 7 wherein the 3D vision system is connected to the gantry by a telescoping assembly that drives the 3D vision system to telescope in the first direction;
The telescoping assembly includes: the telescopic device comprises a telescopic shell and a fourth driving assembly, wherein one end of the telescopic shell is connected with the portal frame, the other end of the telescopic shell is connected with the 3D vision system, the fourth driving assembly is arranged in the telescopic shell, and the fourth driving assembly drives the 3D vision system to move along the first direction.
9. The truck of claim 8, further comprising: the control system is in signal connection with the first driving assembly, the second driving assembly, the third driving assembly, the fourth driving assembly, the 3D vision system, the loading and unloading mechanical arm, the first conveying assembly and the second conveying assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322588178.XU CN221026474U (en) | 2023-09-22 | 2023-09-22 | Automatic loading and unloading vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322588178.XU CN221026474U (en) | 2023-09-22 | 2023-09-22 | Automatic loading and unloading vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN221026474U true CN221026474U (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322588178.XU Active CN221026474U (en) | 2023-09-22 | 2023-09-22 | Automatic loading and unloading vehicle |
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| CN (1) | CN221026474U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117326351A (en) * | 2023-09-22 | 2024-01-02 | 乐仓信息科技有限公司 | Automatic loading and unloading truck and method thereof |
| CN119841125A (en) * | 2025-03-21 | 2025-04-18 | 厦门艾科曼智能装备有限公司 | Container cargo handling mechanism |
-
2023
- 2023-09-22 CN CN202322588178.XU patent/CN221026474U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117326351A (en) * | 2023-09-22 | 2024-01-02 | 乐仓信息科技有限公司 | Automatic loading and unloading truck and method thereof |
| CN119841125A (en) * | 2025-03-21 | 2025-04-18 | 厦门艾科曼智能装备有限公司 | Container cargo handling mechanism |
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