WO2023082694A1

WO2023082694A1 - Goods loading and unloading system and method, and loading and unloading transport vehicle

Info

Publication number: WO2023082694A1
Application number: PCT/CN2022/107131
Authority: WO
Inventors: 向正新; 苏利杰; 冯晔; 王迪凡; 侯建云; 王维平; 郑鹏; 陈治国
Original assignee: 中车长江运输设备集团有限公司
Priority date: 2021-11-12
Filing date: 2022-07-21
Publication date: 2023-05-19
Also published as: CN114348688B; CN114348688A

Abstract

A goods loading and unloading system and method, and a loading and unloading transport vehicle (100), the goods loading and unloading system comprising a loading and unloading transport vehicle (100) and a goods transfer vehicle (200), wherein the loading and unloading transport vehicle (100) may enter and exit from the interior of a goods transport device (300) so as to load and unload goods (400). The loading and unloading transport vehicle (100) is provided with a goods stacking position (1331) and a manipulator (120). The manipulator (120) may rotate so as to load and unload the goods (400) in a working space of the manipulator (120), and the goods (400) may be temporarily stored in the goods stacking position (1331) in order to load and unload a plurality of pieces of goods (400). The goods transfer vehicle (200) is used for traveling outside of the goods transport device (300) so as to dock the loading and unloading transport vehicle (100).

Description

Cargo loading and unloading system, method and loading and unloading transport vehicle

Cross References to Related Applications

This disclosure claims the priority of a Chinese patent application filed on November 12, 2021 with application number 202111354058.2 and titled "A cargo handling system, method, and loading and unloading vehicle", the entire contents of which are hereby incorporated by reference.

technical field

The disclosure belongs to the technical field of cargo handling equipment, and in particular relates to a cargo handling system, method and loading and unloading transport vehicle.

Background technique

At present, equipment products with functions such as handling, palletizing, and sorting have become a hot spot in the logistics industry.

Commonly used transportation equipment for logistics goods include railway flat cars, railway funnel cars, railway boxcars, vans, containers, etc. Among them, railway boxcars, vans and other covered cargo transportation equipment can protect against sun and rain, and are mainly used for transportation Some goods that are susceptible to moisture or cannot be exposed to the sun. This kind of cargo transportation equipment has a good protective effect when transporting special cargo, and its unique structure brings a lot of trouble to the loading and stacking of the cargo. Due to the canopy/roof, it is not possible to load and unload goods directly from above the vehicle with equipment such as a gantry crane like an open car. Moreover, the width of the door is limited, so it is impossible to load and unload the goods in the car at one time.

Therefore, the current cargo loading and unloading system is usually equipped with belt conveyors or logistics robots to realize the automatic transmission of logistics goods. However, manual carrying is still used in the unloading and loading links, which is labor-intensive, low loading and unloading efficiency, and the handling environment is harsh. Outstanding issue.

Contents of the invention

The present disclosure provides a cargo loading and unloading system, method, and loading and unloading transport vehicle, which realizes mechanized operations of unloading and loading, reduces labor costs, and improves logistics transfer efficiency.

The first aspect of the present disclosure provides a cargo handling system, including: a loading and unloading vehicle for driving into and out of the interior of the cargo transportation equipment for cargo loading and unloading, the loading and unloading vehicle is provided with a cargo storage space and a rotatable manipulator; and a cargo transfer vehicle for driving outside the cargo transport equipment to dock with the loading and unloading vehicle.

The second aspect of the present disclosure provides a cargo loading and unloading method suitable for the above cargo loading and unloading system, including a cargo unloading method and a cargo loading method; wherein: the cargo unloading method specifically includes: controlling the loading and unloading vehicle to unload the station The cargo at the door of the cargo transportation equipment, the manipulator transfers the cargo at the door to the cargo storage position; controls the loading and unloading vehicle to drive into the cargo transportation equipment, and the manipulator transfers the cargo in the vehicle to the cargo storage position; the cargo storage location; when the cargo storage height on the cargo storage location exceeds a preset value, the cargo transfer vehicle is controlled to transfer the cargo stored in the cargo storage location. The cargo loading method may include: controlling the loading and unloading vehicle to drive the cargo into the cargo transportation equipment, and the manipulator transfers the cargo stored in the cargo storage position to the interior of the cargo transportation equipment; when the cargo When the space inside the transport equipment is smaller than the working space of the loading and unloading transport vehicle, the loading and unloading transport vehicle is controlled to drive out of the cargo transport equipment, and the manipulator transfers the goods stored in the cargo storage position to the door of the vehicle.

A third aspect of the present disclosure provides a loading and unloading vehicle, including: a chassis, which is provided with a driving component, used to drive the loading and unloading vehicle into and out of the cargo transportation equipment; a manipulator, composed of the chassis The rotating connection is used for cargo loading and unloading; and the stacking device is arranged on the chassis component and arranged side by side with the manipulator to provide a cargo storage space.

Description of drawings

Fig. 1 shows a schematic structural diagram of a loading and unloading transport vehicle according to one or more embodiments of the present disclosure.

Fig. 2 shows a schematic structural diagram of a manipulator in a loading and unloading vehicle according to one or more embodiments of the present disclosure.

Fig. 3 shows a schematic structural diagram of a second gripper in a manipulator according to one or more embodiments of the present disclosure.

Fig. 4 shows a schematic structural diagram of the composition of the storage device in the loading and unloading transport vehicle according to one or more embodiments of the present disclosure.

FIG. 5 shows a schematic diagram of the operation of a cargo handling system according to one or more embodiments of the present disclosure.

Fig. 6 shows the first operation state diagram of the cargo handling method according to one or more embodiments of the present disclosure.

FIG. 7 shows a second operational state diagram of the cargo handling method according to one or more embodiments of the present disclosure.

Fig. 8 shows a third operation state diagram of the cargo handling method according to one or more embodiments of the present disclosure.

FIG. 9 shows a fourth operational status diagram of the cargo handling method according to one or more embodiments of the present disclosure.

FIG. 10 shows a fifth operational status diagram of the cargo handling method according to one or more embodiments of the present disclosure.

Explanation of reference signs: 100-loading and unloading transport vehicle; 110-chassis composition, 111-traveling assembly, 1111-wheel, 112-mounting seat; 120-manipulator, 121-first clamp, 122-second clamp, 1221-jaw arm , 1222-tooth-shaped protrusion; 130-storage device composition, 131-bracket, 1311-support position, 1312-installation port, 132-conversion mechanism, 133-tray, 1331-goods storage position, 133a-working tray, 133b - spare tray, 133c - empty tray; 140 - battery. 200-cargo transfer vehicle; 300-cargo transport equipment, 301-railway box car, 310-car door; 400-cargo.

Detailed ways

In related technologies, the automatic cargo loading and unloading system uses a mobile unloading platform vehicle. The unloading mobile platform vehicle is arranged on the side of the truck to be unloaded, and is always located outside the cargo transportation equipment. The unloading mobile platform vehicle is equipped with a mobile grabbing device for grabbing goods. It can go deep into the interior of the cargo transportation equipment to grab the goods. In order to grab the goods everywhere in the carriage, the structure of the mobile grabbing device is relatively large, and it is required to be able to expand and contract, and the telescopic range covers the entire carriage.

Although the unloading mobile platform vehicle of the related art can realize in-depth operations in the vehicle, due to the large overall volume, inconvenient operation, and a small number of single grabs, and after grabbing the goods, the mobile grabbing device needs to shrink and translate to transfer the goods to On the unloading conveyor belt. This results in high equipment costs and inefficient loading and unloading operations.

In order to overcome the above disadvantages, the present disclosure provides a cargo loading and unloading system, method, and loading and unloading transport vehicle. The loading and unloading transport vehicle that can drive into and out of the cargo transport equipment is used for cargo loading and unloading, with flexible operation and high loading and unloading efficiency. The technical solutions of the present disclosure will be described in detail below in conjunction with specific embodiments.

In the first aspect of the present disclosure, a loading and unloading vehicle 100 is provided, which can drive in and out of the loading and unloading vehicle 100 inside the cargo transportation equipment 300, and move forward, backward and freely turn inside the cargo transportation equipment 300 to realize cargo transportation. Flexible loading and unloading. Specifically referring to FIG. 1 , the loading and unloading vehicle 100 includes three parts: a chassis component 110 , a manipulator 120 and a stacking device component 130 .

The chassis composition 110 is the skeleton and installation base of the entire loading and unloading vehicle 100 , and is used for installing various functional components of the loading and unloading vehicle 100 . The size of the chassis composition 110 is relatively small, and the turning radius should be smaller than the width of the cargo transportation equipment 300. For example, the length of the chassis composition 110 is not more than half of the width of the cargo transportation equipment 300, and the width of the chassis composition 110 is smaller than the length of the chassis composition 110. The specific structure of the chassis composition 110 can refer to the car body structure of the existing AGV trolley (Automatic Guidance Transport Vehicle) and other small transport vehicles, and the specific structural shape is not limited in this disclosure.

The chassis composition 110 is provided with a driving assembly 111, which is used to drive the loading and unloading vehicle 100 to move in and out of the cargo transportation equipment 300, and to move forward, backward and turn freely inside the cargo transportation equipment 300. The specific structure of the driving assembly 111 is not limited in the present disclosure, and for details, reference may be made to related disclosures in the prior art. In one or more embodiments, the driving component 111 is composed of wheels 1111, driven by electric power, and the vehicle is equipped with a lithium battery 140 to achieve continuous operation for 6 hours; The all-wheel steering inside the 300 ensures the flexible operation of the vehicle inside the cargo transport equipment 300.

The manipulator 120 is used for cargo loading and unloading. The manipulator 120 is installed on the chassis component 110 and is rotatably connected with the chassis component 110, so that the manipulator 120 can rotate 0-360°. The rotation radius of the manipulator 120 is smaller than the minimum size of the cargo transportation device 300, namely The rotation radius of the manipulator 120 is smaller than the minimum value of the length, width and height of the cargo transportation device 300 . Referring to FIG. 1 , in one or more embodiments, the chassis assembly 110 is provided with a mount 112 , the manipulator 120 is rotatably connected to the mount 112 , and a power device for driving the manipulator 120 to rotate is disposed inside the mount 112 . The manipulator 120 can be a conventional cargo handling manipulator 120 , and for the specific structure, refer to relevant disclosures in the prior art, and the present disclosure is not limited thereto. In one or more embodiments, the manipulator 120 is a six-degree-of-freedom manipulator 120 , simulating human hand operation.

In order to grab the goods stably, referring to FIG. 2, in one or more embodiments, the operating end of the manipulator 120 is provided with a first gripper 121 for grabbing box-type goods. The specific structure of the first gripper 121 refers to the prior art Relevant disclosures are not limited in this disclosure. In one or more embodiments, the first clamp 121 may be a suction cup assembly. Since the goods are generally placed relatively full, at a higher position on the top floor, the manipulator 120 uses a side suction method to grab box-type goods. When the stacking height of the goods is not high, the manipulator 120 can automatically judge that the top suction and side suction methods are used. When loading and unloading the lowermost cargo, the manipulator 120 adopts a side suction method.

When the goods to be grasped are bag-like goods, the operating end of the manipulator 120 is correspondingly provided with a second gripper 122 . For the specific structure of the second gripper 122 , refer to related disclosures in the prior art, and the present disclosure does not limit it. Referring to FIG. 3 , in one or more embodiments, the second clamp 122 includes two clamp arms 1221 , and tooth-shaped protrusions 1222 are provided on opposite sides of the two clamp arms 1221 to improve the friction force during clamping. In other embodiments, the first gripper 121 and the second gripper 122 can also be set at the operating end of the manipulator 120 at the same time, and the grippers can be switched in real time according to the shape of the goods to be loaded and unloaded.

The stacking device composition 130 is used to provide a cargo storage space 1331 on which the goods are temporarily stored. The storage device composition 130 is disposed on the chassis composition 110 . In order to reduce the movement range of the manipulator 120, the stacking device composition 130 and the manipulator 120 are arranged side by side along the length direction of the loading and unloading vehicle 100, specifically the manipulator 120 is arranged on the front of the chassis composition 110, and the stacking device composition 130 is arranged on the chassis composition The rear of the 110. The storage device composition 130 can adopt structures such as a bottom plate for supporting goods, a pallet 133 , a cargo basket, etc. It only needs to be able to store goods, and the specific structure is not limited in this disclosure.

Referring to FIG. 4 , in one or more embodiments, the storage device assembly 130 includes a bracket 131 for placing a tray 133 , and the bracket 131 is connected to the chassis assembly 110 . When in use, the tray 133 can be directly placed on the support 131. On the one hand, the support 131 can stably support the tray 133, and on the other hand, it is convenient to take and place the tray 133 through the mechanical structure. In other embodiments, the stacking device composition 130 can also be configured to have its own tray 133 .

In order to improve loading and unloading efficiency, referring to FIG. 4, the stacking device composition 130 also includes a conversion mechanism 132 and at least two trays 133. The conversion mechanism 132 is arranged on the chassis composition 110 and/or the support 131. The conversion mechanism 132 can be located directly inside or The side of the bracket 131 is used to switch between different trays 133 . The pallets 133 are sequentially arranged on the bracket 131 from top to bottom, the top pallet 133 is a working pallet 133a for storing goods, and the remaining pallets 133 are spare pallets 133b. After the working pallet 133a is carried away with the goods, the switching mechanism 132 transfers one of the spare pallets 133b to the working position of the pallet 133, and then the spare pallet 133b becomes the working pallet 133a. By setting the switching mechanism 132, the working pallet 133a and the spare pallet 133b, it is ensured that the loading and unloading transport vehicle 100 works uninterruptedly, and the cargo loading and unloading efficiency is improved.

In one or more embodiments, there are two trays 133, and the switching of the trays 133 is realized by lifting and rotating. Specifically, the support 131 is a hollow structure, and two support positions 1311 are set on the support 131 to facilitate the tray 133 to rest on the support positions 1311 . The conversion mechanism 132 includes a connected lifting part and a rotating part, one of which is connected to the chassis assembly 110 and/or the bracket 131 , and the other acts on the tray 133 . Specifically, the rotating part can use rotating power components such as motors and steering gears, or rotating pairs such as turntables, and the jacking part can specifically use hydraulic cylinders, air cylinders, electric cylinders, electric telescopic rods and other equipment. Public without restrictions.

In one or more embodiments, the rotating part is installed on the chassis assembly 110 and located in the hollow space of the bracket 131 , and the lifting part is installed on the rotating part for lifting the tray 133 . Normally, the tray 133 is rectangular. By setting the hollow space of the bracket 131 to be slightly larger than the tray 133, the tray 133 can be smoothly lifted and lowered in the hollow space of the bracket 131. When the tray 133 is lifted to the top of the upper support position 1311 , the rotating part rotates at a certain angle, so that the two short sides of the tray 133 are placed on the upper supporting position 1311 to realize the conversion of the tray 133 .

In order to facilitate loading of the tray 133 , the bracket 131 is a cube bracket 131 with four sides, and one side of the bracket 131 is close to the manipulator 120 . Among the remaining three sides of the bracket 131 , at least one side is provided with an installation opening 1312 for loading the tray 133 . In one or more embodiments, installation openings 1312 are provided on the remaining three sides of the bracket 131 , and the three sides of the storage device assembly 130 can be placed into the tray 133 , which can match various operating states of the loading and unloading vehicle 100 .

In order to improve the degree of automation, the loading and unloading vehicle 100 is also provided with an automatic navigation device and a visual recognition device. The automatic navigation device is electrically connected with the visual recognition device, the driving component 111 and the manipulator 120 , and is uniformly powered by the battery 140 . Both the automatic navigation device and the visual recognition device are mature prior art, and for specific content, reference may be made to related disclosures of the prior art, and the present disclosure is not limited thereto.

The visual recognition device is installed on the manipulator 120, preferably installed on the operating end (i.e. the front end) of the manipulator 120. The automatic navigation device and the visual recognition device on the manipulator 120 work together to identify the stacked goods and stockpiled goods, and accurately locate the position of the goods. Provide accurate position information for the action of the manipulator 120, ensure that the manipulator 120 can accurately grab the goods, and guide the loading and unloading vehicle 100 to a position close to the goods, so as to realize the unmanned operation of the loading and unloading vehicle 100.

In actual operation, calculated according to the rated load capacity of the pallet 133 of 1t, it is equivalent to being able to carry 60-70 box-type goods or 20-30 bag-type goods. high.

In the second aspect of the present disclosure, a cargo handling system is provided, which is used for loading and unloading cargo on a cargo transportation device 300. A commonly used cargo transport vehicle, or a transport unit such as a container. Referring to FIG. 5 , the cargo handling system includes a loading and unloading transport vehicle 100 and a cargo transfer vehicle 200 . Among them, the loading and unloading vehicle 100 is used to drive in and out of the cargo transport equipment 300, and move forward, backward and turn freely inside the cargo transport equipment 300, so as to realize flexible loading and unloading of cargo. The cargo transfer vehicle 200 is used to drive outside the cargo transportation equipment 300 to dock with the loading and unloading vehicle 100 , transfer the cargo 400 unloaded by the loading and unloading vehicle 100 , or transfer the cargo 400 to be loaded to the loading and unloading vehicle 100 . In actual use, the cargo loading and unloading system usually includes multiple loading and unloading transport vehicles 100 and multiple cargo transfer vehicles 200 . Taking the cargo of loading and unloading railway boxcars as an example, due to the large depth of the railway boxcar (for example, the length of the P70 type railway boxcar is more than 16m), the interior can accommodate two loading and unloading transport vehicles 100 for simultaneous operation. The quantity of the cargo transfer vehicle 200 is more, generally more than 4 are required. The data of the loading and unloading transport vehicle 100 and the cargo transfer vehicle 200 are determined according to actual needs, which is not limited in the present disclosure.

The loading and unloading vehicle 100 needs to be inserted into the interior of the cargo transportation equipment 300 for operation, so the volume should be small. The loading and unloading transport vehicle 100 is provided with a cargo storage position 1331 and a rotatable manipulator 120. The cargo storage position 1331 is used for temporary storage of goods. The cargo storage position 1331 can be a structure such as a bottom plate supporting the cargo 400, a pallet 133, a cargo basket, etc. , it only needs to be able to store goods, and the specific structure is not limited in the present disclosure. The manipulator 120 is rotatable, so it can load and unload goods in different positions. The manipulator 120 can be a conventional goods handling manipulator 120 . For specific structures, refer to related disclosures in the prior art, and the present disclosure does not limit it. Specifically, in one or more embodiments, the loading and unloading vehicle 100 adopts the loading and unloading vehicle 100 of the first aspect of the present disclosure, so all the structural contents of the loading and unloading vehicle 100 of the first aspect of the present disclosure can be applied in In the cargo handling system of the second aspect of the present disclosure, details will not be repeated here.

Since the cargo transfer vehicle 200 runs outside the cargo transportation equipment 300, the cargo transfer vehicle 200 can be a forklift, a dump truck, a truck, etc., and the specific model selection is not limited in this disclosure. In order to cooperate with the pallet 133 of the handling vehicle 100 of the first aspect of the present disclosure, in one or more embodiments, the cargo transfer vehicle 200 is a forklift.

According to the cargo handling system provided by one or more embodiments of the present disclosure, the cargo handling system is suitable for loading and unloading various types of cargo transport vehicles. The cargo handling system includes a loading and unloading transport vehicle and a cargo transfer vehicle. The loading and unloading transport vehicle can Drive in and out of the interior of cargo transport equipment for cargo loading and unloading. The loading and unloading transport vehicle is equipped with a cargo storage space and a manipulator. The manipulator can rotate to load and unload the goods in the workspace of the manipulator. The goods can be temporarily stored in the cargo storage space for loading and unloading multiple goods. The cargo transfer vehicle is used to drive outside the cargo transport equipment to dock with the loading and unloading transport vehicle. Therefore, through the loading and unloading transport vehicle and the cargo transfer vehicle, it is possible to enter the interior of the cargo transport equipment for cargo loading and unloading, and the cargo loading and unloading is flexible and convenient.

According to the cargo handling system provided by one or more embodiments of the present disclosure, the cargo handling system is applicable to various types of cargo transport vehicles and transport units (for example: containers), especially suitable for covered cargo transport equipment such as railway boxcars. The railway box car is characterized by its large depth, side opening and small door size. Because of the ceiling, it is impossible to use a crane to lift the goods, and it is difficult to arrange the conveyor belt due to its large depth. However, in the cargo loading and unloading system provided by one or more embodiments of the present disclosure, the overall structural size of the loading and unloading transport vehicle is smaller than that of the railway boxcar, and it can move and turn in a relatively limited space inside the railway boxcar. The transportation operation is efficient and flexible, and it can go deep into the railway. The cargo is loaded and unloaded inside the box car, and the cargo transfer vehicle is used to realize the fully mechanized operation from the railway box car to the shelf.

In a third aspect of the present disclosure, there is provided a cargo handling method, which is applicable to the cargo handling system of the second aspect of the present disclosure. According to the cargo loading and unloading method provided by one or more embodiments of the present disclosure, when the cargo is unloaded, the loading and unloading vehicle first unloads the cargo at the door, and after the cargo at the door is grasped, it is convenient for the loading and unloading vehicle to enter the interior of the cargo transportation equipment. Carry out follow-up in-depth work. During the unloading process, when the height of the goods on the goods storage space exceeds the preset value, the goods are transferred by the goods transfer vehicle. The cargo loading process is opposite to the cargo unloading process. The cargo to be loaded on the loading and unloading vehicle drives into the cargo transportation equipment, and the manipulator stacks the goods in the cargo storage position inside the cargo transportation equipment. When a certain amount of cargo is piled up so that the space inside the cargo transport equipment is smaller than the working space of the loading and unloading transport vehicle, the loading and unloading transport vehicle drives out of the cargo transport equipment to complete the cargo loading at the door.

The cargo loading and unloading method in one or more embodiments of the third aspect of the present disclosure will be described in detail below by taking loading and unloading cargo of railway boxcars as an example.

As an important means of transportation in railway transportation, the railway boxcar has a structural feature that the upper part of the carriage is equipped with a sun-proof and rain-proof roof, and the middle part of the carriage is open on both sides. It is mainly used to transport some goods that are prone to moisture or cannot be exposed to the sun. The railway box car has a good protective effect when transporting special goods, and its unique structure brings great trouble to the loading and stacking of goods. Because the railway box car has a roof, it cannot be loaded and unloaded directly from the top of the car like a gondola car by using a device such as a gantry crane. The door of the railway boxcar is located in the middle of the car body, and the width of the door is limited, so it is impossible to load and unload the goods in the car at one time. Take the common P70 railway boxcar as an example, its length*width*height dimensions (in mm) are 16087*2793*2855, and the door dimensions (width*height, mm): 2964*2539.

Due to the above reasons, the current loading and unloading of boxcars in railway freight yards still relies mainly on manpower. Manual back-carrying is used in the unloading and loading links, and belt conveyors or small forklifts are only used in the transport link of loading and unloading. Low efficiency and poor handling environment are several prominent problems.

The cargo loading and unloading method provided by the embodiment of the present disclosure realizes the cargo loading and unloading of the railway box car through the cargo loading and unloading system of the second aspect of the present disclosure. The overall size of the loading and unloading transport vehicle 100 (length*width*height, mm): 2000*1500*1800, Specifically, the cargo transfer vehicle 200 is a forklift. Therefore, hereinafter "railway boxcar" refers to "goods transport equipment" and "forklift" refers to "goods transfer vehicle".

A. Cargo unloading method.

A1, first start unloading from the gate of the railway box car 301, control the loading and unloading transport vehicle 100 to travel to the door 310 close to the railway box car 301, and the loading and unloading transport vehicle 100 first unloads from the container at the door, as shown in Figure 6, the manipulator 120 grabs the door The goods 400 at the location, then rotate 0-180°, and place the goods 400 on the goods storage position 1331.

Specifically, the loading and unloading transport vehicle 100 performs cargo unloading with a posture in which the length direction is parallel to the width direction of the railway box car 301. At this time, the manipulator 120 needs to rotate 180 degrees every time it grabs and unloads the cargo, and the cargo 400 is placed in the storage position 1331 of the cargo 400 at the rear. . Up to the operating range of the manipulator 120, within the operating range of about 2.5 meters, the entire column of goods at the door is completely grasped, and it is also convenient for the loading and unloading transport vehicle 100 to enter the railway boxcar 301 for subsequent in-depth operations.

A2. Within the operating range of the manipulator 120, after the unloading of the whole column of goods 400 located within the operating range of the manipulator 120 at the door is completed, the loading and unloading transport vehicle 100 is controlled to drive into the railway box car 301, and the loading and unloading transport vehicle 100 translates in the railway box car 301 Propel and/or turn, the manipulator 120 rotates 0-180°, and transfers the cargo 400 in the vehicle to the cargo storage position 1331 .

Referring specifically to Fig. 7, after the loading and unloading transport vehicle 100 enters the railway boxcar 301, the manipulator 120 rotates 90 degrees to start grabbing and unloading operations. The manipulator 120 only needs to rotate 90 degrees each time, and the goods 400 can be placed on the goods storage position 1331. Improve the operating efficiency of the manipulator 120.

Since the loading and unloading vehicle 100 can realize all-wheel steering, and the size of the vehicle is smaller than that of the boxcar, it can be translated and pushed inside the railway boxcar 301 (that is, the length direction of the loading and unloading vehicle 100 is parallel to the width direction of the railway boxcar 301, as shown in FIG. 8 ), Continue to grab and unload the goods 400, and the manipulator 120 only needs to rotate 90 degrees each time to complete the operation.

When the loading and unloading vehicle 100 is difficult to rotate, the vehicle can adjust the grabbing direction (that is, the length direction of the loading and unloading vehicle 100 is perpendicular to the width direction of the railway box car 301, as shown in Figure 9), and the manipulator 120 needs to rotate 180 degrees each time. The loading and unloading vehicle 100 vehicle can realize fast forward. Due to the small size of the loading and unloading transport vehicle 100 , the turning radius is smaller than the width of the railway box car 301 , so it can be flexibly operated in various postures inside the railway box car 301 .

Because the goods inside the railway box car 301 are not all of the same batch of goods, the size of the goods 400 cannot be all the same, and because the design of the loading and unloading transport vehicle 100 is mainly small in size, the manipulator 120 will appear in the operating range of stacking goods in the goods storage position 1331 Part of the area cannot be covered. At this time, the goods are stacked on the top or on the side, which needs to be judged and processed by the visual recognition device of the loading and unloading transport vehicle 100 .

After the loading and unloading vehicle 100 enters the railway box car 301, after unloading a certain amount of goods 400, the internal space of the railway box car 301 increases, and at this time, another loading and unloading vehicle 100 can be put into it depending on the situation, as shown in Figure 10, two loading and unloading vehicles 100 unloads the goods 400 on both sides of the railway box car 301 respectively, further improving loading and unloading efficiency.

During the entire unloading operation process of the loading and unloading transport vehicle 100, the forklift will also match the entire unloading operation process accordingly. Referring to FIG. 6 , when the storage height of the goods 400 on the goods storage space 1331 exceeds a preset value, the forklift will transfer the goods 400 stored in the goods storage space 1331 . In order to match the transportation scheme, when the forklift picks up the goods 400 each time, it must bring an extra empty pallet 133c, which is put into the lower layer of the stacking device composition 130 after the operation is started or completed, so as to ensure the second use.

After the forklift came over, the empty pallet 133c was sent into the stacking device of the loading and unloading vehicle 100 to form the 130 middle and lower floors, and then the pallet 133 full of goods 400 on the upper floor was sent away and placed on the shelf. After the loaded pallet 133 is transferred, the conversion mechanism of the stacking device composition 130 will lift up a new empty pallet 133c for the next step of cargo storage. Of course, in other embodiments, the empty tray 133c can also be placed in the loading position for placing goods by manually replacing the tray 133 . The pallet conversion method is not limited in the present disclosure.

The packing operation process is opposite to the unpacking operation process, specifically: B. Cargo loading method.

Control the loading and unloading vehicle 100 to load goods into the railway box car 301, and the manipulator 120 transfers the goods 400 stored in the cargo storage position 1331 to the inside of the railway box car 301; The loading and unloading vehicle 100 is controlled to drive out of the railway boxcar 301 and drive to the door 310 of the railway boxcar 301 , and the manipulator 120 transfers the goods 400 stored in the goods storage space 1331 to the door.

Specifically, 100 loading and unloading vehicles loaded with goods enter the railway box car 301, and the goods 400 are stacked sequentially from high to low, and from deep to shallow. The goods 400 are stacked, as shown in FIG. 10 .

As the goods on both sides of the railway box car 301 increase, the working space of the loading and unloading transport vehicle 100 gradually decreases. At this time, only one loading and unloading transport vehicle 100 can carry out the loading operation, as shown in FIGS. 7 to 9 .

When the remaining space inside the railway boxcar 301 is smaller than the turning range of the manipulator 120 of the loading and unloading vehicle 100, the loading and unloading vehicle 100 drives out of the railway boxcar 301 and drives to a position close to the door 310 of the railway boxcar 301, and stacks the goods at the door, as shown in the figure 6.

During the entire loading operation process of the loading and unloading transport vehicle 100, the forklift will also match the entire loading operation process accordingly. The loading capacity of the loading and unloading vehicle 100 is limited, so forklifts are required to continuously load the loading and unloading vehicle 100 . The pallet 133 full of goods is placed on the cargo 400 storage position 1331 of the loading and unloading vehicle 100 by the forklift, after all the cargo 400 of the cargo storage position 1331 is stacked in the railway boxcar 301, the pallet 133 of the full load is placed on the pallet 133 by the forklift again. The cargo 400 of the loading and unloading transport vehicle 100 is stored at a storage position 1331 .

Since the manipulator 120 of the loading and unloading vehicle 100 only carries the goods and does not operate the pallet 133, an empty pallet 133c will be left after the goods are loaded. The empty pallet 133c can be taken away manually, or the empty pallet 133c can be automatically taken away by a mechanical device. In one or more embodiments, since the loading and unloading transport vehicle 100 of the first aspect of the present disclosure is adopted, the conversion mechanism in the stacking device composition 130 can be used to lower the empty pallet 133c to the lower area, and after the forklift is loaded, The empty pallet 133c is brought back to the shelf.

In practical applications, taking a fully loaded railway box car as an example, the cargo loading and unloading system of the second aspect of the present disclosure is adopted, and the cargo is loaded and unloaded according to the cargo loading and unloading method of the third aspect of the present disclosure, and the loading/unloading time is 2 hours within. Only one forklift driver is required, and no manual operation is required on the railway boxcar side.

According to one or more embodiments of the present disclosure, one or more embodiments of the present disclosure have the following advantages: 1) In the cargo handling system provided by one or more embodiments of the present disclosure, the overall structural size of the loading and unloading transport vehicle is smaller than that of the cargo The transportation equipment can move and turn in the relatively limited space inside the cargo transportation equipment. The transportation operation is efficient and flexible. It is suitable for various types of cargo transportation vehicles and transportation units, especially suitable for covered cargo transportation equipment such as railway boxcars.

2) In the cargo loading and unloading system provided by one or more embodiments of the present disclosure, the loading and unloading transport vehicle is provided with a cargo storage position, and is matched with the cargo transfer vehicle for transportation operations, thereby reducing complex conveying equipment (such as conveyor belts), equipment Reduce costs.

3) The overall design of the loading and unloading transport vehicle provided in this disclosure is mainly flexible and convenient, and it can drive in and out of the interior of the cargo transportation equipment to realize the grasping and temporary storage of goods, and only grab one cargo at a time. The operation time is short, which greatly improves the overall operation efficiency.

4) The loading and unloading vehicle provided by one or more embodiments of the present disclosure uses manipulators to individually grab and arrange the storage area, and at the same time, it is composed of a small-sized chassis that drives in and out of the cargo transportation equipment. The internal space of the cargo transportation equipment is relatively flexible. Due to the relatively mature partial modules (chassis components, manipulators, and storage devices), the reliability and responsiveness of the entire vehicle are relatively high.

5) For the loading and unloading vehicle provided by one or more embodiments of the present disclosure, the gripper at the front end of the manipulator can be replaced, and is suitable for loading and unloading box-type goods and bag-type goods.

6) For the loading and unloading vehicle provided by one or more embodiments of the present disclosure, the front end of the manipulator is equipped with a visual recognition device, and in conjunction with an automatic navigation device, it can identify stacked goods and stacked goods, accurately locate the position of the goods, and provide an accurate position for the action of the manipulator Information, to ensure that the manipulator accurately grabs the goods, and guides the loading and unloading vehicle to a position close to the goods, so as to realize the unmanned operation of the loading and unloading vehicle.

Having described preferred embodiments of the present disclosure, additional changes and modifications can be made to these embodiments by those of ordinary skill in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the present disclosure.

Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and equivalent technologies thereof, the present disclosure also intends to include these modifications and variations.

Claims

A cargo handling system comprising:

a loading and unloading vehicle for driving into and out of the interior of the cargo transport facility for cargo loading and unloading, said loading and unloading vehicle being provided with cargo storage bays and a rotatable manipulator; and

The cargo transfer vehicle is used to drive outside the cargo transport equipment to dock with the loading and unloading transport vehicle.
The cargo handling system according to claim 1, wherein: the operating end of the manipulator is provided with a first gripper for grabbing box-type cargo and/or a second gripper for grabbing bag-type cargo.
The cargo handling system according to claim 1, wherein: the rotation angle of the manipulator is 0-360°; the rotation radius of the manipulator is smaller than the minimum size of the cargo transportation equipment; and the manipulator is a six-degree-of-freedom manipulator.
The cargo loading and unloading system according to any one of claims 1-3, wherein: the loading and unloading transport vehicle further includes a chassis composition, on which a traveling component is arranged; and the manipulator is rotationally connected to the chassis composition.
The cargo handling system according to claim 4, wherein: the loading and unloading vehicle further comprises a stacking device composition, and the stacking device composition and the manipulator are arranged side by side on the chassis composition; the cargo storage position It includes a tray and a bracket for placing the tray, the bracket is connected to the chassis, and the tray constitutes the cargo storage space.
The cargo handling system according to claim 5, wherein: there are more than two pallets, and each pallet is sequentially arranged on the support from top to bottom;

The stacking device composition also includes a conversion mechanism for converting pallets, and the conversion mechanism is arranged on the chassis composition and/or the support.
The cargo handling system according to claim 6, wherein: the support is a cube support; one side of the support is close to the manipulator; and among the remaining three sides of the support, at least one side is provided with a useful to the mounting opening of the loading tray.
The cargo handling system according to claim 4, wherein: the loading and unloading vehicle further includes an automatic navigation device and a visual recognition device; the automatic navigation device is electrically connected to the visual recognition device, the driving assembly and the manipulator connection; the visual recognition device is installed on the manipulator.
A cargo handling method applicable to the cargo handling system according to any one of claims 1-8, comprising a cargo unloading method and a cargo loading method; wherein:

Described cargo unloading method comprises:

Controlling the loading and unloading vehicle to unload the goods at the door of the cargo transportation equipment, the manipulator transfers the goods at the door to the cargo storage position; controlling the loading and unloading vehicle to drive into the cargo transportation equipment, the The manipulator transfers the goods in the vehicle to the cargo storage position; when the cargo storage height on the cargo storage position exceeds the preset value, the cargo transfer vehicle is controlled to store the goods in the cargo storage position make a transfer;

The cargo loading methods include:

controlling the loading and unloading of the vehicle-mounted cargo to enter the cargo transportation equipment, and the manipulator transfers the cargo stored in the cargo storage position to the interior of the cargo transportation equipment; when the space inside the cargo transportation equipment is smaller than the When loading and unloading the working space of the transport vehicle, the loading and unloading transport vehicle is controlled to drive out of the cargo transport equipment, and the manipulator transfers the goods stored in the cargo storage position to the door of the vehicle.
The cargo loading and unloading method according to claim 9, wherein: the manipulator transfers the cargo at the door to the cargo storage position, comprising:

Within the working range of the manipulator, the manipulator grabs the goods at the door, then rotates 0-180°, and places the goods on the goods storage position.
The cargo loading and unloading method according to claim 10, wherein: controlling the loading and unloading vehicle to drive into the cargo transportation equipment, and the manipulator transferring the cargo in the vehicle to the cargo storage position, comprising:

After the unloading of the entire row of goods at the door within the operating range of the manipulator is completed, the loading and unloading vehicle is controlled to drive into the cargo transportation equipment, and the loading and unloading vehicle is translated and/or pushed in the cargo transportation equipment Turning, the manipulator rotates 0-180° to transfer the goods in the car to the goods storage position.
The cargo loading and unloading method according to any one of claims 9-11, wherein: controlling the cargo transfer vehicle to transfer the cargo stored in the cargo storage location includes:

Controlling the empty pallet on the cargo transfer vehicle to drive towards the loading and unloading vehicle, and the cargo transfer vehicle sends the empty pallet into the cargo storage position;

controlling the cargo transfer vehicle to transfer the fully loaded pallets; and

The empty pallet is moved to a loading position for placing the goods.
A loading and unloading transport vehicle, comprising:

The chassis is composed of a driving component, which is used to drive the loading and unloading vehicle into and out of the cargo transportation equipment;

A manipulator, which forms a rotational connection with the chassis, is used for cargo loading and unloading;

The stacking device is arranged on the chassis and arranged side by side with the manipulator to provide a storage space for goods.
The loading and unloading vehicle according to claim 13, wherein: the operating end of the manipulator is provided with a first gripper for grabbing box-type cargo and/or a second gripper for grabbing bag-type cargo.
The loading and unloading vehicle according to claim 13, wherein: the rotation angle of the manipulator is 0-360°; the rotation radius of the manipulator is smaller than the minimum size of the cargo transportation equipment; and the manipulator is a six-degree-of-freedom manipulator.
The loading and unloading transport vehicle according to any one of claims 13-15, wherein: the storage device comprises a bracket for placing pallets, and the bracket is connected to the chassis.
The loading and unloading transport vehicle according to claim 16, wherein: the stacking device composition further includes a conversion mechanism and at least two pallets; the conversion mechanism is arranged on the chassis composition and/or the support for converting Trays; the at least two trays are sequentially arranged on the support from top to bottom.
The loading and unloading vehicle according to claim 17, wherein: the conversion mechanism includes a connected jacking part and a rotating part, one of the jacking part and the rotating part is formed with the chassis and/or the One is connected to the bracket and the other acts on the tray.
The loading and unloading vehicle according to claim 17, wherein: the support is a cube support; one side of the support is close to the manipulator; and among the remaining three sides of the support, at least one side is provided with a useful to the mounting opening of the loading tray.
The loading and unloading vehicle according to any one of claims 13-15, 17-19, wherein: the loading and unloading vehicle further comprises an automatic navigation device and a visual recognition device; the automatic navigation device and the visual recognition device, Both the driving assembly and the manipulator are electrically connected; the visual recognition device is installed on the manipulator.