WO2022027980A1 - 装卸货设备以及装卸货系统 - Google Patents

装卸货设备以及装卸货系统 Download PDF

Info

Publication number
WO2022027980A1
WO2022027980A1 PCT/CN2021/083113 CN2021083113W WO2022027980A1 WO 2022027980 A1 WO2022027980 A1 WO 2022027980A1 CN 2021083113 W CN2021083113 W CN 2021083113W WO 2022027980 A1 WO2022027980 A1 WO 2022027980A1
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
conveying
loading
conveying member
cantilever
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/083113
Other languages
English (en)
French (fr)
Inventor
王显旺
何伟全
张囝
张亚方
周宇波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Qianshi Technology Co Ltd
Original Assignee
Beijing Jingdong Qianshi Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Qianshi Technology Co Ltd filed Critical Beijing Jingdong Qianshi Technology Co Ltd
Priority to US18/007,349 priority Critical patent/US20240253916A1/en
Priority to JP2022574256A priority patent/JP7723690B2/ja
Priority to EP21852937.8A priority patent/EP4169858A4/en
Publication of WO2022027980A1 publication Critical patent/WO2022027980A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles
    • B65G67/08—Loading land vehicles using endless conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G11/00—Chutes
    • B65G11/02—Chutes of straight form
    • B65G11/023—Chutes of straight form for articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/007—Means for moving conveyor frames and control arrangements therefor
    • B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/24—Unloading land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/34—Omni-directional rolls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Definitions

  • the present disclosure relates to the field of logistics machinery, in particular to a loading and unloading equipment and a loading and unloading system.
  • warehouse unloading adopts hydraulic trucks, telescopic conveyor belts, cantilever conveyor belts, etc.
  • the specific methods are: manually transport the goods to the equipment, and then use the equipment to transport the goods to the warehouse. Alternatively, the goods are unloaded from the truck and transported to the warehouse by means of forklift handling.
  • the warehouse shipping and loading process is the opposite of the unloading workflow, but the equipment is the same.
  • the inventor found that there are at least the following problems in the related art: whether it is unloading or loading, the use of hydraulic trucks, telescopic conveyor belts, cantilever second conveyor belts and other methods requires a lot of labor, labor intensity, and labor costs. Both unloading and warehouse palletizing require labor at both ends.
  • an unloading truck which includes a conveyor belt that can be transported laterally and an end picker that can move longitudinally.
  • the end effector is provided with rows of suction cups which can be moved with the end effector in the longitudinal direction of the vehicle, ie in the fore and aft direction, in order to drag goods from elsewhere onto the unloading truck.
  • the suction cup drags the goods to the transverse conveying line on the end picker, and then the goods are conveyed to the transverse end of the end picker along the transverse conveying line, and then the goods are conveyed backward to the transverse conveying line through the jacking and transplanting device.
  • the warehousing conveyor line connected to the rear end of the warehousing conveyor line transports the goods to the warehouse.
  • the length of the end effector that is, the size of the end effector in the telescopic direction
  • the width is large, which is suitable for trucks parked horizontally.
  • the equipment needs to be operated by personnel, and the operator's workbench is on the body. For loading (unloading) high-level goods, due to poor visibility, accidents are prone to occur. Therefore, this kind of loading and unloading truck is subject to many restrictions in actual use, and its scope of application is limited. .
  • the present disclosure proposes a loading and unloading equipment and a loading and unloading system to improve the performance of the loading and unloading equipment.
  • Some embodiments of the present disclosure provide a loading and unloading equipment, including a base assembly, a boom assembly, and a conveying assembly; the base assembly is configured to provide support; the boom assembly includes a first bracket assembly and a first conveying member, the first A bracket assembly is installed on the base assembly; the first conveying member is installed in the first bracket assembly; the conveying assembly includes a second bracket assembly, a second conveying member and a suction cup assembly; the second bracket assembly is installed In the first bracket assembly, the second conveying member is installed on the second bracket assembly, and the suction cup assembly is rotatably installed on the second bracket assembly; the suction cup assembly is configured to suck the article to the on the second conveying member; wherein, the conveying direction of the first conveying member is consistent with the conveying direction of the second conveying member.
  • the loading and unloading equipment further includes a slewing drive mechanism, the slewing drive mechanism is disposed between the base assembly and the cantilever assembly to drive the cantilever assembly to rotate relative to the base assembly, and the rotating shaft is along the in the vertical direction.
  • the cargo handling equipment further includes a support bracket, the support bracket is drivingly connected with the slewing drive mechanism; the first bracket assembly is mounted on the support bracket; the slewing drive mechanism passes through the support bracket to drive the cantilever assembly to rotate relative to the base assembly.
  • the support bracket includes a base plate and a first link mechanism, the slewing drive mechanism is drivingly connected with the base plate; the first link mechanism is hinged to the base plate, and the first bracket assembly is hinged to the first link mechanism.
  • the first link mechanism includes at least three mutually parallel first rods and second rods, and one end of the at least three mutually parallel first rods is hinged with the bottom plate; The first rods are hinged with one of the second rods; the first bracket assembly is hinged with the second rods.
  • the cargo handling apparatus further includes a link drive mechanism mounted on the base plate and in driving connection with the second rod, the link drive mechanism being configured to pass through the first rod
  • the link mechanism drives the cantilever assembly to move relative to the base assembly along its own length direction.
  • the loading and unloading equipment further includes a pitch drive mechanism, the pitch drive mechanism is disposed between the base plate and the cantilever assembly, or between the base assembly and the cantilever assembly, the pitch drive mechanism The mechanism is configured to drive the boom assembly to tilt relative to the base assembly.
  • the first bracket assembly includes a parallelogram mechanism
  • the parallelogram mechanism includes two groups, the two parallelogram mechanisms of each group are arranged in parallel, and the first conveying member is located in the two groups of the parallelogram mechanism Between the quadrilateral mechanisms; wherein, each group of the parallelogram mechanisms is pivotally connected through a horizontal shaft, and the horizontal shaft is hinged with the second rod.
  • the second bracket assembly is pivotally connected to the first bracket assembly.
  • the loading and unloading equipment further includes a horizontal rotation driving mechanism, and the horizontal rotation driving mechanism is disposed between the second bracket assembly and the first bracket assembly to drive the second bracket assembly relative to the The first bracket assembly rotates around a rotation axis, and the rotation axis is in a vertical direction.
  • the suction cup assembly is mounted on the second bracket assembly, and the suction cup assembly is configured to switch between the suction position and the non-adsorption position; wherein, when the suction cup assembly is in the non-adsorption position, The suction cup assembly is located outside the movement track of the article on the second conveying member so as not to affect the movement of the article along the second conveying member.
  • the loading and unloading equipment further includes a link driving mechanism, and the link driving mechanism is disposed between the base assembly and the cantilever assembly, so as to drive the cantilever assembly relative to the base assembly along its own length direction move.
  • the loading and unloading equipment further includes a pitch drive mechanism, which is disposed between the base assembly and the boom assembly to drive the boom assembly to tilt relative to the base assembly.
  • the base assembly includes a chassis and a traveling wheel; the cantilever assembly is mounted on the chassis; the traveling wheel is mounted on the chassis.
  • the conveying direction of the first conveying member and the conveying direction of the second conveying member are the same, or the conveying direction of the first conveying member and the conveying direction of the second conveying member are sandwiched between The angle is greater than 0° and less than or equal to 20°.
  • the first conveying member includes at least one of a conveying belt and a conveying roller; and/or, the second conveying member includes at least one of a conveying belt and a conveying roller.
  • the loading and unloading system further includes a first conveying line disposed on a side of the first conveying member away from the second conveying member, the conveying line being configured to transport the items It is conveyed to the first conveying member, or the articles conveyed by the first conveying member are received.
  • the loading and unloading system further includes a second conveying line, the first conveying member is located higher than the first conveying line, the second conveying line is arranged obliquely, and is located on the first conveying line and the first conveying member.
  • the loading and unloading equipment provided by the above technical solution is provided with a cantilever assembly and a conveying assembly.
  • the conveying assembly adsorbs the articles from the truck and transports them to the cantilever assembly for continued transportation, or the adsorption assembly accepts the articles conveyed by the cantilever assembly and then transports them to the truck. superior. Since the first conveying member of the cantilever assembly is located in the conveying direction of the second conveying member of the conveying assembly, the articles are all transported from the first conveying member to the second conveying member and from the second conveying member to the first conveying member.
  • the length of the second conveying member can be arbitrarily set, regardless of whether the truck has a side-opening structure or a rear-opening structure, it is applicable, which greatly expands the Application scenarios of loading and unloading equipment.
  • FIG. 1 is a schematic diagram of a usage state of a loading and unloading system provided by some embodiments of the present disclosure
  • FIG. 2 is a schematic front view of the use state of the loading and unloading system provided by some embodiments of the present disclosure
  • FIG. 3 is a partial top view schematic diagram of a loading and unloading system in use state provided by some embodiments of the present disclosure
  • FIG. 4 is a schematic front view of the structure of the loading and unloading equipment provided by some embodiments of the present disclosure
  • FIG. 5 is a schematic structural diagram of a cargo loading and unloading equipment provided by some embodiments of the present disclosure
  • FIG. 6 is a schematic three-dimensional structural schematic diagram of removing the side plate of the base assembly of the cargo loading and unloading equipment according to some embodiments of the present disclosure
  • FIG. 7 is a schematic top view of the use state of the loading and unloading equipment provided by some embodiments of the present disclosure.
  • FIG. 8 is a schematic front view of the pitching state of the loading and unloading equipment provided by some embodiments of the present disclosure.
  • FIG. 9 is a schematic diagram of a conveying assembly of a loading and unloading equipment provided by some embodiments of the present disclosure.
  • FIG. 10 is a schematic diagram of adsorbing articles by a conveying assembly of a loading and unloading equipment according to some embodiments of the present disclosure
  • FIG. 11 is a schematic diagram of the workflow of the loading and unloading system provided by some embodiments of the present disclosure.
  • some embodiments of the present disclosure provide a cargo loading and unloading equipment, including a base assembly 1 , a boom assembly 2 and a conveying assembly 3 .
  • the base assembly 1 is configured to provide support.
  • the cantilever assembly 2 includes a first bracket assembly 21 and a first conveying member 22 , and the first bracket assembly 21 is mounted on the base assembly 1 .
  • the first conveying member 22 is mounted on the first bracket assembly 21 .
  • the conveying assembly 3 includes a second support assembly 31, a second conveying member 32 and a suction cup assembly 33; the second support assembly 31 is installed on the first support assembly 21, the second conveying member 32 is installed on the second support assembly 31, and the suction cup assembly 33 can be It is mounted on the second bracket assembly 31 in a reversed manner, specifically, it is flipped around the D axis.
  • the suction cup assembly 33 is configured to attract the item 14 to the second conveying member 32.
  • the conveying direction of the first conveying member 22 is the same as the conveying direction of the second conveying member 32 . Consistency includes that the conveying directions are exactly the same, and the included angle of the conveying directions is 0-20° (this situation is also called the conveying directions are basically the same).
  • the base assembly 1 serves as the installation base and provides support for the cantilever assembly 2 .
  • the chassis 11 of the loading and unloading equipment has degrees of freedom such as left and right movement, forward and backward movement, and steering.
  • the boom assembly 2 is supported by the base assembly 1 when loading and unloading goods and not working.
  • the suction cup assembly 33 includes a mounting substrate and a suction cup.
  • the mounting base is hollow, the suction cup is installed on the mounting base, the suction cup is connected to the vacuum pipeline through the mounting base, and an electronically controlled vacuum valve is installed in the vacuum pipeline. , release the action.
  • the suction cup assembly 33 has two positions: a suction position and a non-suction position.
  • multiple driving elements such as motors, are used to cooperate together to realize the switching of the suction cup assembly 33 between the suction position and the non-suction position.
  • the cantilever assembly 2 is used to receive the articles 14 conveyed by the conveying assembly 3 to realize the in-warehousing of the articles 14, that is, unloading; and the cantilever assembly 2 can also transport the articles 14 to the conveying assembly 3 to realize the out-stocking of the articles 14, namely loading.
  • the cantilever assembly 2 is located in the conveying direction of the conveying assembly 3. Therefore, when the article 14 is transported between the cantilever assembly 2 and the conveying assembly 3, the conveying direction does not need to be changed, which greatly reduces the unsmooth conveyance of the article 14 due to the change in the conveying direction. , The phenomenon of low conveying efficiency improves the efficiency and reliability of loading and unloading operations.
  • the above technical solution due to the use of a long cantilever structure and a very narrow conveying assembly 3, can be adapted to the loading/unloading work whether it is a horizontally parked flatbed truck 13 or a longitudinally parked rear door van 13.
  • the first conveying member 22 includes at least one of a conveying belt and a conveying roller; and/or the second conveying member 32 includes at least one of a conveying belt and a conveying roller.
  • the first conveying member 22 and the second conveying member 32 are both described as using conveyor belts.
  • the base assembly 1 includes a chassis 11 and running wheels 12 .
  • the cantilever assembly 2 is mounted on the chassis 11 .
  • the traveling wheel 12 is mounted on the chassis 11 .
  • the whole loading and unloading equipment can be conveniently changed and moved through the traveling wheels 12 to meet the loading and unloading requirements of different positions, different warehouses, and different items 14 in the same warehouse.
  • the direction M1 indicates the direction in which the cantilever moves back and forth
  • the direction M2 indicates the direction in which the cantilever swings in pitch.
  • the direction M3 in FIG. 5 shows the left and right movement direction of the chassis assembly
  • the direction M4 shows the front and rear movement direction of the chassis assembly
  • the direction M5 shows the turning direction of the chassis assembly
  • the direction M6 shows the left and right swing direction of the cantilever assembly.
  • the cantilever assembly 2 is mounted on the chassis 11 , and an attitude adjustment structure can be provided to change the attitude of the cantilever assembly 2 relative to the chassis 11 .
  • the so-called attitude includes at least one of the following conditions: the pitch angle of the cantilever assembly 2 relative to the chassis 11 , the position of the cantilever assembly 2 along its own length direction, and the rotation of the cantilever assembly 2 around the vertical axis.
  • the cantilever assembly 2 can at least have one of the above adjustment methods, preferably, the cantilever assembly 2 has the above three adjustment methods, so that the cantilever assembly 2 has the freedom of pitch swing, front and rear movement and left and right swing. Spend. The following describes in detail how to realize the attitude adjustment of the cantilever assembly 2 .
  • the loading and unloading equipment further includes a slewing drive mechanism 4 , and the slewing drive mechanism 4 is disposed between the base assembly 1 and the cantilever assembly 2 to drive the cantilever assembly 2 to rotate relative to the base assembly 1 , and the axis of rotation is along the vertical direction.
  • the slewing drive mechanism 4 adopts, for example, a slewing motor.
  • the slewing motor is mounted on the chassis 11 of the base assembly 1 , and the power output shaft of the slewing motor drives the cantilever assembly 2 to rotate relative to the vertical axis.
  • the loading and unloading equipment further includes a link driving mechanism 6 .
  • the link driving mechanism 6 is disposed between the base assembly 1 and the cantilever assembly 2 to drive the cantilever assembly 2 relative to the base assembly. 1 moves along its own length.
  • the link drive mechanism 6 uses a motor, and the cantilever assembly 2 moves relative to the base assembly 1 along its own length direction through a power direction conversion mechanism or directly using a motor capable of outputting linear power.
  • the cantilever assembly 2 moves linearly, it will bring the conveying assembly 3 closer to and away from the article 14, so that the position of the suction cup assembly 33 of the conveying assembly 3 from the article 14 meets the suction requirements to achieve smooth suction.
  • the loading and unloading equipment further includes a pitch drive mechanism 7 , which is disposed between the base assembly 1 and the cantilever assembly 2 to drive the cantilever assembly 2 to tilt relative to the base assembly 1 .
  • the pitch drive mechanism 7 is a telescopic structure such as an oil cylinder, an electric cylinder, etc. Through the expansion and contraction of the pitch drive mechanism 7, the cantilever assembly 2 is driven to rotate relative to the chassis 11, thereby realizing the adjustment of the pitch attitude of the cantilever assembly 2.
  • the loading and unloading equipment further includes a support bracket 5, which is drivably connected to the slewing drive mechanism 4; the first bracket assembly 21 is mounted on the support bracket 5; the slewing drive mechanism 4 drives the cantilever assembly 2 through the support bracket 5 Rotate relative to the base assembly 1 .
  • the cantilever assembly 2 is installed together with the chassis 11 through the support bracket 5. This arrangement improves the complexity of the installation structure between the cantilever assembly 2 and the chassis 11, and makes it possible to conveniently install the cantilever assembly 2 no matter what kind of cantilever assembly 2 is adopted. To achieve posture adjustment.
  • the support bracket 5 includes a bottom plate 51 and a first link mechanism 52 .
  • the rotary drive mechanism 4 is drivingly connected to the base plate 51 .
  • the first link mechanism 52 is hinged to the bottom plate 51
  • the first bracket assembly 21 is hinged to the first link mechanism 52 .
  • the rotation of the rotary drive mechanism 4 will drive the base plate 51 , the first link mechanism 52 installed on the base plate 51 , the cantilever assembly 2 and the conveying assembly 3 to rotate synchronously.
  • the position of the conveying assembly 3 can be adjusted by turning to meet the different loading and unloading requirements of the side door truck 13 and the rear door truck 13 .
  • the first link mechanism 52 includes at least three first rods 521 and at least two second rods 522 that are parallel to each other. One end of each first rod 521 is hinged to the bottom plate 51 . The other ends of every two adjacent first rods 521 are hinged with a second rod 522 ; the first bracket assembly 21 is hinged with the second rod 522 .
  • the first link mechanism 52 includes four first rods 521 and four second rods 522 hinged to the base plate 51 . The width of the two second rods 522 is larger than that of the other two second rods 522 . The two larger-sized second rods 522 are hinged with the cantilever assembly 2 through the auxiliary rod 523 .
  • the connecting rod driving mechanism 6 is installed in the following manner: the connecting rod driving mechanism 6 is mounted on the bottom plate 51 and is drivingly connected with the second rod 522 , and the connecting rod driving mechanism 6 is configured as The cantilever assembly 2 is driven by the first link mechanism 52 to move relative to the base assembly 1 along its own length direction.
  • the connecting rod driving mechanism 6 adopts a power output shaft capable of outputting linear power, and the power output shaft is hinged with the second rod 522 through the connecting rod 524 . There are two connecting rods.
  • the link drive mechanism 6 drives the second rod 522 to move, and the movement of the cantilever assembly 2 is approximately linear motion, which can already meet the needs of adjustment along the length of the cantilever assembly 2 itself, so it is not required that the cantilever assembly 2 is completely linear motion , but can have a certain amount of wobble.
  • the pitch drive mechanism 7 is disposed between the base plate 51 and the cantilever assembly 2 , or between the base assembly 1 and the cantilever assembly 2 , and the pitch drive mechanism 7 is configured to drive The boom assembly 2 is tilted relative to the base assembly 1 .
  • the pitch driving mechanism 7 is, for example, an oil cylinder, the cylinder of the oil cylinder is mounted on the bottom plate 51 , and the piston rod of the oil cylinder is hinged with the cantilever assembly 2 . Through the expansion and contraction of the oil cylinder, the cantilever assembly 2 is driven to pitch.
  • the boom assembly 2 can be adjusted to make the conveying assembly 3 lower than the second rod 522 as shown in FIG. 8 , flush with the second rod 522 , or higher than the second rod 522 as shown in FIG. 2 .
  • first bracket assembly 21 of the cantilever assembly 2 will be described in detail below.
  • the parallelogram mechanisms 210 include two groups, two parallelogram mechanisms 210 of each group are arranged in parallel, and the two groups of parallelogram mechanisms 210 are also parallel.
  • the first conveying member 22 is located between the two groups of parallelogram mechanisms 210 ; wherein the two parallelogram mechanisms 210 of each group are pivotally connected through four horizontal shafts 21 a which are hinged to the second rod 522 .
  • the cantilever assembly 2 moves along with it. Since the first bracket assembly 21 of the cantilever assembly 2 adopts the parallelogram mechanism 210, it does not matter how the parallelogram mechanism 210 of the cantilever assembly 2 is.
  • the vertical axis is vertical, which makes the posture of the conveying assembly 3 connected to the vertical axis on the side away from the chassis 11 always under the action of gravity, so that the suction cup assembly 33 can better absorb the articles 14 .
  • the loading and unloading equipment adopts a multi-degree-of-freedom cantilever structure, and the interior of the cantilever adopts a parallel link structure, so that the horizontal angle and the left and right angles of the front conveying assembly 3 can be maintained at any position, so as to be in the correct posture of absorbing the cargo box. .
  • connection mode of the boom assembly 2 and the conveying assembly 3 will be described in detail below.
  • the second bracket assembly 31 is pivotally connected with the first bracket assembly 21 .
  • a pin shaft is used to realize the pivot connection.
  • the rear end of the second bracket assembly 31 of the conveying assembly 3 is connected with the front end of the cantilever assembly 2 through a hinge.
  • the conveying assembly 3 can be parallel to the chassis 11 at all times.
  • the cantilever assembly 2 adopts a parallel link structure inside. No matter what the pitch angle of the boom assembly 2 is, the horizontal angle of the conveying assembly 3 remains unchanged, so that the front end of the suction cup assembly 33 is always parallel to the article 14 when the boom swings left and right.
  • the side close to the truck 13 is the front end, and the end away from the truck 13 is the rear end.
  • the loading and unloading equipment further includes a horizontal rotation driving mechanism 16, and the horizontal rotation driving mechanism 16 is disposed between the second bracket assembly 31 and the first bracket assembly 21 to drive the second bracket.
  • the assembly 31 rotates about the rotation axis C relative to the first bracket assembly 21 , and the rotation axis C is vertical.
  • the conveying assembly 3 is driven to rotate relative to the cantilever assembly 2 around the rotation axis C as a whole, so that the posture of the conveying assembly 3 can be actively adjusted, so that the suction cup assembly 33 of the conveying assembly 3 is in a suitable position that can absorb the articles 14.
  • the rotating shaft D in FIG. 9 is the rotating shaft around which the suction cup assembly rotates.
  • the suction cup assembly 33 can be controlled to rotate around the axis under the driving of the horizontal rotation drive mechanism 16 .
  • the front end surface of the suction cup is parallel to the side surface of the article 14, and can be rotated within a certain angle.
  • the angle state of the suction cup assembly 33, the article 14 and the second conveying member 32, and then the suction cup assembly 33 is disengaged from the article 14 and continues to move backward, while around the The vertical axis rotates until the suction cup assembly 33 is completely turned lower than the upper surface of the second conveying member 32.
  • the suction cup is in the non-adsorption position, and the article 14 can pass above the suction cup assembly 33 under the drag of the second conveying member 32. .
  • the suction cup assembly 33 is mounted to the second bracket assembly 31 , and the suction cup assembly 33 is configured to switch between the suction position and the non- suction position.
  • the suction position refers to the position where the suction surface of the suction cup assembly 33 faces the article 14
  • the non-suction position refers to the position where the suction surface of the suction cup assembly 33 is away from the article 14 .
  • 1 to 10 are schematic views of the suction cup assembly 33 in the suction position.
  • the suction cup assembly 33 when the suction cup assembly 33 is in the non-adsorption position, the suction cup assembly 33 is located outside the movement track of the article 14 on the second conveying member 32 so as not to affect the movement of the article 14 along the second conveying member 32 .
  • the suction cup assembly 33 can be switched between the adsorption position and the non-adsorption position by means of the cooperation of multiple driving sources.
  • a sensor (not shown) and/or a vision system can be installed on the conveying assembly 3 to help the system locate the position of the item 14 more accurately and quickly, thereby improving efficiency.
  • the loading and unloading system further includes a first conveying line 8 , the first conveying line 8 is disposed on the side of the first conveying member 22 away from the second conveying member 32 , and the conveying line is configured In order to convey the articles 14 to the first conveying member 22 or receive the articles 14 conveyed by the first conveying member 22 .
  • the loading and unloading system further includes a second conveying line 9 , and the first conveying member 22 is at a high position On the first conveying line 8 , the second conveying line 9 is arranged obliquely and is located between the first conveying line 8 and the first conveying member 22 . Referring to FIG. 7 , the central axis L1 of the second conveying line 9 is parallel to the central axis L2 of the second conveying member 32 .
  • the first conveying line 8 , the second conveying line 9 and the loading and unloading equipment are all located on the platform 10 .
  • the truck 13 is parked beside the platform 10 .
  • the loading and unloading equipment located on the platform 10 unloads the articles 14 one by one from the truck 13 parked next to the platform 10 and conveys them to the first conveyor line 8 connected behind it, and the first conveyor line 8 is located on the platform. 10, one end of which is connected to the rear end of the loading and unloading equipment, and the other end extends into the warehouse.
  • the first conveying line 8 can transport the articles 14 into the warehouse to realize unloading.
  • the articles 14 on the first conveying line 8 are transported one by one through the loading and unloading equipment and stacked on the truck 13 parked beside the platform 10 to realize loading.
  • the above technical solution greatly improves the automation degree and efficiency of loading and unloading, and improves the adaptability of various loading and unloading conditions.
  • the loading and unloading system can work in the existing warehouse to complete the automatic loading and unloading of the articles 14 .
  • a truck 13 transporting items 14 is parked beside the warehouse platform 10 .
  • the loading and unloading equipment is automatically or manually guided to a predetermined position on the platform 10, and manually according to the size of the truck 13 and the type of the item 14, the box type of the item 14 is set or the stocked type is retrieved.
  • the cantilever assembly 2 of the loading and unloading equipment positions the conveying assembly 3 to the top one of a column of items 14 on the truck 13 by pitching, moving forward and backward and/or swinging left and right, and the suction cup assembly 33 sucks and drags the items 14 backward.
  • the suction cup assembly 33 is disengaged from the article 14 and continues to move backward while rotating around the axis until the suction cup assembly 33 is completely rotated below the upper surface of the second conveying member 32 .
  • the second conveying member 32 continues to drag the article 14 backwards over the suction cup assembly 33 and onto the first conveying member 22.
  • the articles 14 then pass through the first conveying member 22 , the second conveying line 9 and the first conveying line 8 in sequence to reach the interior of the warehouse.
  • the suction cup assembly 33 rotates in the opposite direction around the axis and moves forward relative to the second conveying member 32 at the same time. A pick and drag action for an item 14.
  • a positioning device and/or a vision system can also be connected after the first conveying line 8, and the automatic stacking of multiple boxes can be realized by cooperating with equipment such as a palletizing robot. It can greatly save labor and improve work efficiency.
  • the depalletizing robot can place the items 14 on the first conveyor line 8 one by one, and after they are transported to the conveyor assembly 3, the items 14 can be loaded and unloaded. The equipment stacks the boxes on the truck 13 piece by piece, saving a lot of labor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Manipulator (AREA)

Abstract

一种装卸货设备以及装卸货系统，其中装卸货设备包括底座组件(1)、悬臂组件(2)以及输送组件(3)，底座组件(1)被构造为提供支撑；悬臂组件(2)包括第一支架组件(21)以及第一输送件(22)，第一支架组件(21)安装于底座组件(1)；第一输送件(22)安装于第一支架组件(21)；输送组件(3)包括第二支架组件(31)、第二输送件(32)以及吸盘组件(33)；第二支架组件(31)安装于第一支架组件(21)，第二输送件(32)安装于第二支架组件(31)，吸盘组件(33)可翻转地安装于第二支架组件(31)；吸盘组件(33)被构造为将物品(14)吸附至第二输送件(32)上；其中，第一输送件(22)的输送方向和第二输送件(32)的输送方向一致。该装卸货设备，输送物品(14)过程中不需要变换方向，提高了输送动作的连续性，提高了输送效率。

Description

装卸货设备以及装卸货系统
相关申请的交叉引用
本申请是以CN申请号为202010768197.9，申请日为2020年08月03日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及物流机械领域，具体涉及一种装卸货设备以及装卸货系统。
背景技术
在物流领域，仓库卸货采用液压搬运车、伸缩输送带、悬臂输送带等方式，具体方式为：采用人工方式将货物搬运至设备上，再用设备将货物运输至仓库内。或者，采用叉车搬运的方式，将货物从货车上卸下、运输到仓库中。仓库发货装车的流程与卸货工作流程相反，但是所用的设备是一样的。发明人发现，相关技术中至少存在下述问题：无论是卸货还是装车，采用液压搬运车、伸缩输送带、悬臂第二输送带等方式，需要大量人工，劳动强度大，人工成本高，在卸车和仓库码垛两端均需要消耗劳动力。
相关技术中，另一种卸货设备为卸货车，包括可横向输送的输送带以及可纵向移动的端拾器。端拾器设置有几排吸盘，这些吸盘可随着端拾器在车辆的纵向、即前后方向移动，以将货物从其他地方拖拽至卸货车上。吸盘将货物拖至端拾器上的横向输送线上，然后货物沿着横向输送线被输送至端拾器的横向一端，随后再通过顶升移栽装置将货物向后输送至与横向输送线的后端连接的入库输送线，该入库输送线将货物输送至仓库内。
发明人发现，相关技术中至少存在下述问题：此种方案一方面端拾器上吸盘移动方向与货物输送方向垂直，吸盘吸取货物后，货物在由输送线横向输送，然后再转弯，后续动作转换频繁，影响吸盘吸取货物的连续性，效率较低。另一方面，端拾器长度(即端拾器伸缩方向的尺寸)有限，宽度很大，对于横向停靠的货车适应较好，如果需要装(卸)后开门式厢货，则不适用。而且，设备需要人员操作，操作人员工作台在车身上，对于装(卸)较高处货物由于视线不好，容易发生事故，所以，这种装卸车实际使用中受到的限制很多，适用范围有限。
发明内容
本公开提出一种装卸货设备以及装卸货系统，用以改善装卸货设备的性能。
本公开一些实施例提供一种装卸货设备，包括底座组件、悬臂组件以及输送组件；所述底座组件被构造为提供支撑；所述悬臂组件包括第一支架组件以及第一输送件，所述第一支架组件安装于所述底座组件；所述第一输送件安装于所述第一支架组件；所述输送组件包括第二支架组件、第二输送件以及吸盘组件；所述第二支架组件安装于所述第一支架组件，所述第二输送件安装于所述第二支架组件，所述吸盘组件可翻转地安装于所述第二支架组件；所述吸盘组件被构造为将物品吸附至所述第二输送件上；其中，所述第一输送件的输送方向和所述第二输送件输送方向一致。
在一些实施例中，装卸货设备还包括回转驱动机构，所述回转驱动机构设置于所述底座组件和所述悬臂组件之间，以带动悬臂组件相对于所述底座组件回转，且回转轴沿着竖直方向。
在一些实施例中，装卸货设备还包括支撑支架，所述支撑支架与所述回转驱动机构驱动连接；所述第一支架组件安装于所述支撑支架；所述回转驱动机构通过所述支撑支架来带动所述悬臂组件相对于所述底座组件回转。
在一些实施例中，所述支撑支架包括底板以及第一连杆机构，所述回转驱动机构与所述底板驱动连接；所述第一连杆机构铰接于所述底板，所述第一支架组件铰接于所述第一连杆机构。
在一些实施例中，所述第一连杆机构包括至少三根相互平行的第一杆以及第二杆，至少三根相互平行的第一杆的一端均与所述底板铰接；每相邻两个所述第一杆都与一所述第二杆铰接；所述第一支架组件铰接于所述第二杆。
在一些实施例中，装卸货设备还包括连杆驱动机构，连杆驱动机构安装于所述底板，且与所述第二杆驱动连接，所述连杆驱动机构被构造为通过所述第一连杆机构带动所述悬臂组件相对于所述底座组件沿着自身的长度方向移动。
在一些实施例中，装卸货设备还包括俯仰驱动机构，俯仰驱动机构设置于所述底板和所述悬臂组件之间，或者设置于所述底座组件和所述悬臂组件之间，所述俯仰驱动机构被构造为带动悬臂组件相对于所述底座组件俯仰摆动。
在一些实施例中，所述第一支架组件包括平行四边形机构，平行四边形机构包括两组，每组的两个所述平行四边形机构平行布置，且所述第一输送件位于两组所述平 行四边形机构之间；其中，每组所述平行四边形机构通过水平轴枢接，所述水平轴与所述第二杆铰接。
在一些实施例中，所述第二支架组件与所述第一支架组件枢接。
在一些实施例中，装卸货设备还包括水平转动驱动机构，水平转动驱动机构设置于所述第二支架组件和所述第一支架组件之间，以带动所述第二支架组件相对于所述第一支架组件绕着转动轴转动，且所述转动轴为竖直方向的。
在一些实施例中，所述吸盘组件安装于所述第二支架组件，且所述吸盘组件被构造为在吸附位置和非吸附位置之间切换；其中，当所述吸盘组件处于非吸附位置，所述吸盘组件位于所述物品在所述第二输送件上的运动轨迹之外，以免影响所述物品沿着所述第二输送件的运动。
在一些实施例中，装卸货设备还包括连杆驱动机构，连杆驱动机构设置于所述底座组件和所述悬臂组件之间，以带动悬臂组件相对于所述底座组件沿着自身的长度方向移动。
在一些实施例中，装卸货设备还包括俯仰驱动机构，俯仰驱动机构设置于所述底座组件和所述悬臂组件之间，以带动悬臂组件相对于所述底座组件俯仰摆动。
在一些实施例中，所述底座组件包括底盘以及行走轮；所述悬臂组件安装于所述底盘；所述行走轮安装于所述底盘。
在一些实施例中，所述第一输送件的输送方向和所述第二输送件的输送方向相同，或者，所述第一输送件的输送方向和所述第二输送件的输送方向的夹角大于0°，且小于等于20°。
在一些实施例中，所述第一输送件包括输送带、输送辊中的至少一种；和/或，第二输送件包括输送带、输送辊中的至少一种。
本公开另一些实施例提供一种装卸货系统，包括本公开任一技术方案所提供的装卸货设备。
在一些实施例中，装卸货系统还包括第一输送线，所述第一输送线设置于所述第一输送件远离所述第二输送件的一侧，所述输送线被构造为将物品输送至所述第一输送件，或者接收所述第一输送件输送来的物品。
在一些实施例中，装卸货系统还包括第二输送线，所述第一输送件的位置高于所述第一输送线，所述第二输送线倾斜布置，且位于所述第一输送线和所述第一输送件之间。
上述技术方案提供的装卸货设备，设置了悬臂组件和输送组件，输送组件将物品从货车上吸附下来，并输送至悬臂组件处继续输送，或者吸附组件接受悬臂组件输送来的物品然后输送至货车上。由于悬臂组件的第一输送件位于输送组件的第二输送件的输送方向上，所以物品在从第一输送件到第二输送件、从第二输送件到第一输送件的过程中，都不需要变换方向，这大大提高了输送动作的连续性，提高了输送效率；并且第二输送件的长度可以任意设定，不管货车为侧开门结构、后开门结构，均适用，这样大大扩展了装卸货设备的应用场景。
附图说明
图1为本公开一些实施例提供的装卸货系统使用状态示意图；
图2为本公开一些实施例提供的装卸货系统使用状态主视示意图；
图3为本公开一些实施例提供的装卸货系统使用状态局部俯视示意图；
图4为本公开一些实施例提供的装卸货设备的主视结构示意图；
图5为本公开一些实施例提供的装卸货设备的结构示意图；
图6为本公开一些实施例提供的装卸货设备去除底座组件的侧板的立体结构示意图；
图7为本公开一些实施例提供的装卸货设备使用状态的俯视示意图；
图8为本公开一些实施例提供的装卸货设备俯仰状态的主视示意图；
图9为本公开一些实施例提供的装卸货设备的输送组件的示意图；
图10为本公开一些实施例提供的装卸货设备的输送组件吸附物品的示意图；
图11为本公开一些实施例提供的装卸货系统工作流程示意图。
具体实施方式
下面结合图1～图11对本公开提供的技术方案进行更为详细的阐述。
参见图1至图9，本公开一些实施例提供一种装卸货设备，包括底座组件1、悬臂组件2以及输送组件3。底座组件1被构造为提供支撑。悬臂组件2包括第一支架组件21以及第一输送件22，第一支架组件21安装于底座组件1。第一输送件22安装于第一支架组件21。输送组件3包括第二支架组件31、第二输送件32以及吸盘组件33；第二支架组件31安装于第一支架组件21，第二输送件32安装于第二支架组件31，吸盘组件33可翻转地安装于第二支架组件31，具体围绕D轴翻转。吸盘组件 33被构造为将物品14吸附至第二输送件32上。其中，第一输送件22的输送方向和第二输送件32的输送方向一致。一致包括输送方向完全相同、输送方向的夹角为0-20°(此情况也称为输送方向基本相同)。第一输送件22的输送方向和第二输送件32的输送方向相同的情形参见图3和图5所示，第一输送件22的输送方向和第二输送件32的输送方向有一定夹角的情形参见图7所示。图3中的方向A示意了货物移动方向。
底座组件1作为安装基础，为悬臂组件2提供了支撑。装卸货设备的底盘11具有左右移动、前后移动和转向等自由度，装卸货设备采用多自由度底盘11，实现了车体的前后、左右、旋转等多自由度运动。在装卸货、不工作的时候，悬臂组件2均由底座组件1支撑。吸盘组件33包括安装基板和吸盘。安装基板是中空的，吸盘安装在安装基板上，吸盘通过安装基板与真空管路连接，真空管路中安装有电控真空阀，真空阀具有接通和切断真空的作用，可实现对物品14的吸附、松开动作。吸盘组件33具有两个位置：吸附位置、非吸附位置。比如采用多个驱动件，比如电机共同配合，来实现吸盘组件33在吸附位置和非吸附位置之间切换。
悬臂组件2用于接收输送组件3输送来的物品14，实现物品14的入库，即卸货；并且，悬臂组件2也可以将物品14输送至输送组件3处，实现物品14的出库，即装货。悬臂组件2位于输送组件3的输送方向上，所以，物品14在悬臂组件2和输送组件3之间运输时，输送方向无需改变，这大大降低了物品14因为输送方向改变带来的输送不顺畅、输送效率低的现象，提高了装卸货操作的效率和可靠性。上述技术方案，由于采用了较长的悬臂结构和很窄尺寸的输送组件3，无论对于横向停放的平板型货车13还是纵向停放的后开门厢式货车13，装/卸工作均可适应。
第一输送件22包括输送带、输送辊中的至少一种；和/或，第二输送件32包括输送带、输送辊中的至少一种。后文以第一输送件22、第二输送件32均采用输送带加以介绍。
下面详细介绍各个部件的具体实现方式。
参见图1、图2、图4至和图6，在一些实施例中，底座组件1包括底盘11和行走轮12。悬臂组件2安装于底盘11。行走轮12安装于底盘11。通过行走轮12实现整个装卸货设备便利地改变移动，以满足同一仓库内不同位置、不同仓库、不同物品14的装卸货需求。图4中方向M1示意了悬臂前后移动的方向，方向M2示意了悬臂俯仰摆动的方向。另外，图5中方向M3示意了底盘组件左右移动的方向，方向M4 示意了底盘组件前后移动的方向，方向M5示意了底盘组件转向方向，方向M6示意了悬臂组件左右摆动方向。
悬臂组件2安装于底盘11，可以设置姿态调节结构，以改变悬臂组件2相对于底盘11的姿态。所谓姿态包括以下至少一种情况：悬臂组件2相对于底盘11的俯仰角度、悬臂组件2沿着自身长度方向的位置、悬臂组件2围绕竖直轴的回转。在一些实施例中，悬臂组件2至少能够具有以上其中一种调节方式，较佳地，悬臂组件2具有以上三种调节方式，如此设置使得悬臂组件2具有俯仰摆动、前后移动和左右摆动的自由度。下面详细介绍如何实现悬臂组件2的姿态调节。
参见图1至图4，在一些实施例中，装卸货设备还包括回转驱动机构4，回转驱动机构4设置于底座组件1和悬臂组件2之间，以带动悬臂组件2相对于底座组件1回转，且回转轴沿着竖直方向。
回转驱动机构4比如采用回转电机，回转电机安装于底座组件1的底盘11，回转电机的动力输出轴带动悬臂组件2相对于竖直轴回转。
参见图1至图4，在一些实施例中，装卸货设备还包括连杆驱动机构6，连杆驱动机构6设置于底座组件1和悬臂组件2之间，以带动悬臂组件2相对于底座组件1沿着自身的长度方向移动。
连杆驱动机构6比如采用电机，通过动力方向转换机构或者直接使用可以输出直线动力的电机实现悬臂组件2相对于底座组件1沿着自身的长度方向移动。悬臂组件2直线移动，会带着输送组件3靠近、远离物品14，以使得输送组件3的吸盘组件33距离物品14的位置满足吸附要求，以实现顺利吸附。
参见图7，在一些实施例中，装卸货设备还包括俯仰驱动机构7，俯仰驱动机构7设置于底座组件1和悬臂组件2之间，以带动悬臂组件2相对于底座组件1俯仰摆动。俯仰驱动机构7比如为油缸、电缸等可以伸缩的结构，通过俯仰驱动机构7的伸缩，带动悬臂组件2相对于底盘11转动，进而实现悬臂组件2俯仰姿态的调节。
在一些实施例中，装卸货设备还包括支撑支架5，支撑支架5与回转驱动机构4驱动连接；第一支架组件21安装于支撑支架5；回转驱动机构4通过支撑支架5来带动悬臂组件2相对于底座组件1回转。悬臂组件2通过支撑支架5与底盘11安装在一起，这种设置方式，改善了悬臂组件2和底盘11之间的安装结构的复杂性，且使得不管采取哪种悬臂组件2，都能够方便地实现姿态调节。
参见图6和图8，在一些实施例中，支撑支架5包括底板51和第一连杆机构52。 回转驱动机构4与底板51驱动连接。第一连杆机构52铰接于底板51，第一支架组件21铰接于第一连杆机构52。回转驱动机构4转动，会带动底板51、安装于底板51的第一连杆机构52、悬臂组件2以及输送组件3同步回转。通过回转可以调节输送组件3的位置，以适应侧开门货车13、后开门货车13的不同装卸货需求。
参见图6和图8，在一些实施例中，第一连杆机构52包括至少三根相互平行的第一杆521以及至少两根第二杆522。各第一杆521的一端与底板51铰接。每相邻两个第一杆521的另一端都与一第二杆522铰接；第一支架组件21铰接于第二杆522。在图6和图8示意的一些实施例中，第一连杆机构52包括四根与底板51铰接的第一杆521，四根第二杆522。其中两根第二杆522的宽度尺寸较另外两根第二杆522的尺寸大。尺寸较大的这两根第二杆522通过辅助杆523与悬臂组件2铰接在一起。
设置支撑支架5后，在一些实施例中，采用下述方式安装连杆驱动机构6：连杆驱动机构6安装于底板51，且与第二杆522驱动连接，连杆驱动机构6被构造为通过第一连杆机构52带动悬臂组件2相对于底座组件1沿着自身的长度方向移动。参见图6和图8，连杆驱动机构6采用可以输出直线动力的动力输出轴，该动力输出轴通过连接杆524与第二杆522铰接。连接杆有两根，两根连接杆524的一端都与动力输出轴铰接，两根连接杆524的另一端都与第二杆522铰接。连杆驱动机构6驱动第二杆522移动，悬臂组件2的运动近似为直线运动，该运动已可满足沿着悬臂组件2自身长度方向调整的需求，故并不要求悬臂组件2完全是直线运动，而是可以具有一定微量的摆动。
继续参见图6和图8，在一些实施例中，俯仰驱动机构7设置于底板51和悬臂组件2之间，或者设置于底座组件1和悬臂组件2之间，俯仰驱动机构7被构造为带动悬臂组件2相对于底座组件1俯仰摆动。俯仰驱动机构7比如为油缸，油缸的缸筒安装于底板51，油缸的活塞杆与悬臂组件2铰接。通过油缸的伸缩，带动悬臂组件2俯仰。悬臂组件2可以调节至使得输送组件3低于第二杆522如图8所示、与第二杆522平齐、高于第二杆522如图2所示的任意一种情况。
继续参见图6和图8，下面详细介绍悬臂组件2的第一支架组件21的实现方式。
在一些实施例中，平行四边形机构210包括两组，每组的两个平行四边形机构210平行布置，两组平行四边形机构210也是平行的。第一输送件22位于两组平行四边形机构210之间；其中，每组的两个平行四边形机构210通过四个水平轴21a枢接，水平轴21a与第二杆522铰接。在第二杆522被水平驱动电机驱动而动作的过程中， 悬臂组件2随着动作，由于悬臂组件2的第一支架组件21采用平行四边形机构210，故不管悬臂组件2的平行四边形机构210如何动作，竖直轴竖直是竖直的，这使得与远离底盘11一侧的竖直轴连接输送组件3的姿态始终是呈现重力作用下状态，这样可以使得吸盘组件33更好地吸附物品14。上述技术方案，装卸货设备采用多自由度悬臂结构，悬臂内部采用平行连杆结构，能实现前方输送组件3在任意位置处，水平角度和左右角度维持不变，使得处于吸取货箱的正确姿态。
继续参见图6和图8，下面详细介绍悬臂组件2和输送组件3的连接方式。
在一些实施例中，第二支架组件31与第一支架组件21枢接。具体采用销轴等实现枢接。输送组件3的第二支架组件31的后端与悬臂组件2的前端通过铰链连接，悬臂组件2左右摆动时，输送组件3可时刻与底盘11平行，同时悬臂组件2内部采用平行连杆结构，无论悬臂组件2的俯仰角度如何，输送组件3的水平角度始终不变，使得吸盘组件33在悬臂左右摆动的时候其前端始终与物品14平行。此处，靠近货车13的一侧为前端，远离货车13的一端为后端。
参见图9和图10，在一些实施例中，装卸货设备还包括水平转动驱动机构16，水平转动驱动机构16设置于第二支架组件31和第一支架组件21之间，以带动第二支架组件31相对于第一支架组件21绕着转动轴C转动，且转动轴C为竖直方向的。通过水平转动驱动机构16，带动输送组件3整体相对于悬臂组件2绕着转动轴C转动，这样可以主动调整输送组件3的姿态，使得输送组件3的吸盘组件33处于能够吸附物品14的合适位置。图9中的转轴D为吸盘组件绕着旋转的转轴。
吸盘组件33在水平转动驱动机构16的驱动下可绕轴做受控制的转动。吸取物品14前，吸盘前端面与物品14侧面平行，并可在一定角度内转动。当吸取物品14并将物品14拖至第二输送件32上时，吸盘组件33、物品14和第二输送件32的角度状态，然后吸盘组件33与物品14脱离并继续向后移动，同时绕竖直轴转动，直至吸盘组件33完全转至低于第二输送件32的上表面此时吸盘处于非吸附位置，物品14可在第二输送件32的拖动下从吸盘组件33的上方通过。
参见图9和图10，在一些实施例中，吸盘组件33安装于第二支架组件31，且吸盘组件33被构造为在吸附位置和非吸附位置之间切换。吸附位置是指吸盘组件33的吸附面朝向物品14的位置，非吸附位置是指吸盘组件33的吸附面远离物品14的位置。图1至图10中示意的是吸盘组件33处于吸附位置的示意图。其中，当吸盘组件33处于非吸附位置，吸盘组件33位于物品14在第二输送件32上的运动轨迹之外， 以免影响物品14沿着第二输送件32的运动。可以采用多个驱动源配合的方式，实现吸盘组件33在吸附位置和非吸附位置之间切换。
为了提高设备工作的安全性和智能化，可以在输送组件3上安装传感器(图未示出)和(或)视觉系统，以帮助系统更准确和迅速得定位物品14的位置，提高效率。
本公开另一些实施例提供一种装卸货系统，包括本公开任一技术方案所提供的装卸货设备。
参见图1至图6，在一些实施例中，装卸货系统还包括第一输送线8，第一输送线8设置于第一输送件22远离第二输送件32的一侧，输送线被构造为将物品14输送至第一输送件22，或者接收第一输送件22输送来的物品14。
参见图1至图6，为了使得第一输送线8更好地使用不同高度的悬臂组件2，在一些实施例中，装卸货系统还包括第二输送线9，第一输送件22的位置高于第一输送线8，第二输送线9倾斜布置，且位于第一输送线8和第一输送件22之间。参见图7，第二输送线9的中轴线L1与第二输送件32的中轴线L2平行。
第一输送线8、第二输送线9、装卸货设备都位于月台10上。货车13停靠在月台10旁边。位于月台10上的装卸货设备从停靠在月台10旁边的货车13上将物品14逐件卸下并输送至连接于其后的第一输送线8上，第一输送线8位于月台10上，其一端与装卸货设备的后端连接，另一端延伸到仓库内部，第一输送线8可将物品14输送至仓库内，实现卸货。或者，第一输送线8上的物品14逐件通过装卸货设备输送并码放至停靠在月台10旁边的货车13上，实现装货。上述技术方案，大大提高了装、卸货的自动化程度和效率，提高各种装卸工况的适应性。
下面介绍本公开实施例提供的装卸货系统的工作原理。装卸货系统可在现有仓库工作，完成物品14的自动装、卸货作业。
以自动卸货为例，参见图1，运输物品14的货车13停靠在仓库月台10旁边。装卸货设备自动或人工引导至月台10上的预定位置，人工根据货车13尺寸和物品14种类设置物品14箱型或调取已存垛型。装卸货设备的悬臂组件2通过俯仰摆动、前后移动和(或)左右摆动将输送组件3定位至货车13上某一列物品14的最上方一个，吸盘组件33吸取并向后拖动物品14，待物品14被拖动至第二输送件32上后，吸盘组件33与物品14脱离并继续向后移动，同时绕轴转动，直至吸盘组件33完全转至低于第二输送件32的上表面。
然后，第二输送件32继续拖动物品14向后运动通过吸盘组件33上方并将其拖 至第一输送件22上。物品14后续依次通过第一输送件22、第二输送线9和第一输送线8，到达仓库内部。而物品14通过吸盘组件33上方后，吸盘组件33绕轴反向转动并同时相对第二输送件32向前方移动，同时悬臂组件2通过俯仰摆动将输送组件3定位至下一个物品14，开始下一个物品14的吸取和拖动动作。如此循环下去，直至将此列物品14全部卸货，然后底盘11左右移动定位至下一列物品14，按照上述循环将下一列物品14全部卸货，直至将靠近装卸货设备的这一面物品14全部卸完。底盘11向前移动一定距离并定位一列物品14，重新按照此前的循环卸货直至所有物品14全部卸完，其工作流程如图11所示。
由于卸货过程是逐箱将物品14输送至仓库内，因此在第一输送线8后还可连接定位装置和(或)视觉系统，在配合码垛机器人等设备实现多货箱的自动码垛，可大大节省劳动力，提高工作效率。同样，在装车过程中，仓库原物品14在已码好垛的情况下，可由拆垛机器人将物品14逐件放置在第一输送线8上，输送至输送组件3处后，可由装卸货设备逐件将货箱码放至货车13上，节省了大量劳动力。
在本公开的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
最后应当说明的是:以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (19)

  1. 一种装卸货设备，包括：
    底座组件(1)，被构造为提供支撑；
    悬臂组件(2)，包括第一支架组件(21)以及第一输送件(22)，所述第一支架组件(21)安装于所述底座组件(1)；所述第一输送件(22)安装于所述第一支架组件(21)；以及
    输送组件(3)，包括第二支架组件(31)、第二输送件(32)以及吸盘组件(33)；所述第二支架组件(31)安装于所述第一支架组件(21)，所述第二输送件(32)安装于所述第二支架组件(31)，所述吸盘组件(33)可翻转地安装于所述第二支架组件(31)；所述吸盘组件(33)被构造为将物品(14)吸附至所述第二输送件(32)上；
    其中，所述第一输送件(22)的输送方向和所述第二输送件(32)的输送方向一致。
  2. 根据权利要求1所述的装卸货设备，还包括：
    回转驱动机构(4)，设置于所述底座组件(1)和所述悬臂组件(2)之间，以带动悬臂组件(2)相对于所述底座组件(1)回转，且回转轴沿着竖直方向。
  3. 根据权利要求2所述的装卸货设备，还包括：
    支撑支架(5)，与所述回转驱动机构(4)驱动连接；所述第一支架组件(21)安装于所述支撑支架(5)；所述回转驱动机构(4)通过所述支撑支架(5)来带动所述悬臂组件(2)相对于所述底座组件(1)回转。
  4. 根据权利要求3所述的装卸货设备，其中，所述支撑支架(5)包括：
    底板(51)，所述回转驱动机构(4)与所述底板(51)驱动连接；以及
    第一连杆机构(52)，所述第一连杆机构(52)铰接于所述底板(51)，所述第一支架组件(21)铰接于所述第一连杆机构(52)。
  5. 根据权利要求4所述的装卸货设备，其中，所述第一连杆机构(52)包括：
    至少三根相互平行的第一杆(521)，一端均与所述底板(51)铰接；以及
    第二杆(522)，每相邻两个所述第一杆(521)都与一所述第二杆(522)铰接；所述第一支架组件(21)铰接于所述第二杆(522)。
  6. 根据权利要求5所述的装卸货设备，还包括：
    连杆驱动机构(6)，安装于所述底板(51)，且与所述第二杆(522)驱动连接，所述连杆驱动机构(6)被构造为通过所述第一连杆机构(52)带动所述悬臂组件(2)相对于所述底座组件(1)沿着自身的长度方向移动。
  7. 根据权利要求4～6任一所述的装卸货设备，还包括：
    俯仰驱动机构(7)，设置于所述底板(51)和所述悬臂组件(2)之间，或者设置于所述底座组件(1)和所述悬臂组件(2)之间，所述俯仰驱动机构(7)被构造为带动悬臂组件(2)相对于所述底座组件(1)俯仰摆动。
  8. 根据权利要求5或者6所述的装卸货设备，其中，所述第一支架组件(21)包括：
    平行四边形机构(210)，包括两组，每组的两个所述平行四边形机构(210)平行布置，且所述第一输送件(22)位于两组所述平行四边形机构(210)之间；其中，每组所述平行四边形机构(210)通过水平轴(21a)枢接，所述水平轴(21a)与所述第二杆(522)铰接。
  9. 根据权利要求1～8任一所述的装卸货设备，其中，所述第二支架组件(31)与所述第一支架组件(21)枢接。
  10. 根据权利要求9所述的装卸货设备，还包括：
    水平转动驱动机构(16)，设置于所述第二支架组件(31)和所述第一支架组件(21)之间，以带动所述第二支架组件(31)相对于所述第一支架组件(21)绕着转动轴转动，且所述转动轴为竖直方向的。
  11. 根据权利要求1～10任一所述的装卸货设备，其中，所述吸盘组件(33)安 装于所述第二支架组件(31)，且所述吸盘组件(33)被构造为在吸附位置和非吸附位置之间切换；其中，当所述吸盘组件(33)处于非吸附位置，所述吸盘组件(33)位于所述物品(14)在所述第二输送件(32)上的运动轨迹之外，以免影响所述物品(14)沿着所述第二输送件(32)的运动。
  12. 根据权利要求1～11任一所述的装卸货设备，还包括：
    连杆驱动机构(6)，设置于所述底座组件(1)和所述悬臂组件(2)之间，以带动悬臂组件(2)相对于所述底座组件(1)沿着自身的长度方向移动。
  13. 根据权利要求1～12任一所述的装卸货设备，还包括：
    俯仰驱动机构(7)，设置于所述底座组件(1)和所述悬臂组件(2)之间，以带动悬臂组件(2)相对于所述底座组件(1)俯仰摆动。
  14. 根据权利要求1～13任一所述的装卸货设备，其中，所述底座组件(1)包括：
    底盘(11)，所述悬臂组件(2)安装于所述底盘(11)；以及
    行走轮(12)，安装于所述底盘(11)。
  15. 根据权利要求1～14任一所述的装卸货设备，其中，所述第一输送件(22)的输送方向和所述第二输送件(32)的输送方向相同，或者，所述第一输送件(22)的输送方向和所述第二输送件(32)的输送方向的夹角大于0°，且小于等于20°。
  16. 根据权利要求1～15任一所述的装卸货设备，其中，所述第一输送件(22)包括输送带、输送辊中的至少一种；和/或，第二输送件(32)包括输送带、输送辊中的至少一种。
  17. 一种装卸货系统，包括权利要求1～16任一所述的装卸货设备。
  18. 根据权利要求17所述的装卸货系统，还包括：
    第一输送线(8)，设置于所述第一输送件(22)远离所述第二输送件(32)的 一侧，所述输送线被构造为将物品(14)输送至所述第一输送件(22)，或者接收所述第一输送件(22)输送来的物品(14)。
  19. 根据权利要求18所述的装卸货系统，还包括：
    第二输送线(9)，所述第一输送件(22)的位置高于所述第一输送线(8)，所述第二输送线(9)倾斜布置，且位于所述第一输送线(8)和所述第一输送件(22)之间。
PCT/CN2021/083113 2020-08-03 2021-03-26 装卸货设备以及装卸货系统 Ceased WO2022027980A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US18/007,349 US20240253916A1 (en) 2020-08-03 2021-03-26 Article loading and unloading equipment and article loading and unloading system
JP2022574256A JP7723690B2 (ja) 2020-08-03 2021-03-26 物品積み降ろし機器および物品積み降ろしシステム
EP21852937.8A EP4169858A4 (en) 2020-08-03 2021-03-26 Loading and unloading equipment, and loading and unloading system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010768197.9A CN112278911B (zh) 2020-08-03 2020-08-03 装卸货设备以及装卸货系统
CN202010768197.9 2020-08-03

Publications (1)

Publication Number Publication Date
WO2022027980A1 true WO2022027980A1 (zh) 2022-02-10

Family

ID=74420678

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/083113 Ceased WO2022027980A1 (zh) 2020-08-03 2021-03-26 装卸货设备以及装卸货系统

Country Status (5)

Country Link
US (1) US20240253916A1 (zh)
EP (1) EP4169858A4 (zh)
JP (1) JP7723690B2 (zh)
CN (1) CN112278911B (zh)
WO (1) WO2022027980A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114834917A (zh) * 2022-06-10 2022-08-02 武汉利德测控技术有限公司 一种物料卸料系统
CN116062469A (zh) * 2023-03-02 2023-05-05 上海摩符供应链科技有限公司 一种全自动智能装卸工业机器人装置
CN116281014A (zh) * 2023-05-24 2023-06-23 厦门艾科曼智能装备有限公司 一种自动装卸系统和自动装卸方法
CN116788872A (zh) * 2023-06-28 2023-09-22 中储恒科物联网系统有限公司 一种适用于火车货运袋装物料的全自动装卸机
CN116788873A (zh) * 2023-06-28 2023-09-22 中储恒科物联网系统有限公司 一种适用于箱式货运袋装物料的自动化卸车机
US12312188B2 (en) 2023-01-09 2025-05-27 Tata Consultancy Services Limited Apparatus for organized loading, and unloading of objects

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112278911B (zh) * 2020-08-03 2023-05-02 北京京东乾石科技有限公司 装卸货设备以及装卸货系统
CN112919148B (zh) * 2021-02-08 2023-03-21 青岛大地厚生科技有限责任公司 一种非接触式冷链集装箱掏箱消毒装卸智能装备
CN113401585A (zh) * 2021-02-23 2021-09-17 江苏六维智能物流装备股份有限公司 一种全自动装卸车设备
CN113120180B (zh) * 2021-05-11 2024-05-31 乔全德 一种环保清污船
CN113173434A (zh) * 2021-05-20 2021-07-27 浙江微通智能科技有限公司 一种自动化装车设备
CN119305997A (zh) * 2021-07-31 2025-01-14 美蓝(杭州)医药科技有限公司 可拾取和释放待搬运物品的装卸机
CN115676326A (zh) * 2021-07-31 2023-02-03 美蓝(杭州)医药科技有限公司 搬运系统
CN115676372A (zh) * 2021-07-31 2023-02-03 美蓝(杭州)医药科技有限公司 能够自动拾取物品的搬运装置
CN113682824B (zh) * 2021-09-07 2023-03-21 山东滨州烟草有限公司 烟箱自动卸货装置
CN118043176A (zh) * 2021-09-24 2024-05-14 大福内部物流美国公司 用于对来自拖车和集装箱的产品进行卸载/拆包的机器人卸车机的基于感知的机器人操纵系统和方法
CN113998410B (zh) * 2021-11-09 2023-06-20 昆船智能技术股份有限公司 一种装卸车同步进行的自动装卸输送系统
CN113911702B (zh) * 2021-11-16 2025-09-12 深圳市冠乔科技有限公司 一种上下卸货机器人
CN114180360A (zh) * 2021-12-29 2022-03-15 东莞市山藤智能科技有限公司 一种推拉料一体装置
CN114408610A (zh) * 2021-12-29 2022-04-29 东莞市山藤智能科技有限公司 一种智能装卸车系统
CN114180358A (zh) * 2022-01-11 2022-03-15 合肥泰禾智能科技集团股份有限公司 装车机器人、装车方法及装车系统
CN114162630A (zh) * 2022-01-12 2022-03-11 合肥泰禾智能科技集团股份有限公司 装卸装置及装车机
CN114314050A (zh) * 2022-02-24 2022-04-12 株洲科盟车辆配件有限责任公司 一种仓储物流装货箱的自动装卸车
CN114560316B (zh) * 2022-03-15 2024-05-17 焦作力普智能装备有限公司 一种面粉包装码垛用设备
CN114655654B (zh) * 2022-03-29 2024-05-14 苏州双祺自动化设备有限公司 标箱自动装卸货机构
CN115520671B (zh) * 2022-10-24 2025-06-24 上海飒智智能科技有限公司 探入式装卸机器人及装卸控制方法
CN115724200A (zh) * 2022-12-07 2023-03-03 上海缆玥智能科技有限公司 一种吸盘卸货车
CN116040197B (zh) * 2022-12-29 2025-12-09 华南农业大学 一种用于多包裹装卸的传送带型末端执行器
EP4470949A1 (de) * 2023-06-02 2024-12-04 BEUMER Group GmbH & Co. KG Förderer zum entladen von gestapeltem, geschüttetem oder lose gehäuftem stückgut aus einem laderaum
CN116674987A (zh) * 2023-06-12 2023-09-01 盛视科技股份有限公司 货物装卸机器人及其装卸方法
CN116620890A (zh) * 2023-06-29 2023-08-22 中储恒科物联网系统有限公司 一种全向自导引履带行走式智能装卸机
CN116715022A (zh) * 2023-08-03 2023-09-08 星猿哲科技(深圳)有限公司 集装箱内的装箱方法及拆箱方法
CN117326351A (zh) * 2023-09-22 2024-01-02 乐仓信息科技有限公司 一种自动装卸车及其方法
CN117509221A (zh) * 2023-11-27 2024-02-06 中集德立物流系统（苏州）有限公司 装卸车的控制方法、装置、装卸车及相关设备
CN117550377B (zh) * 2023-12-30 2025-11-07 浙江坤阳智能设备制造有限公司 一种码垛装置及码垛方法
CN118822417A (zh) * 2024-06-05 2024-10-22 泸州老窖股份有限公司 空托盘管理方法、装置、计算机设备及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2520565A1 (de) * 1975-05-09 1976-11-18 Beumer Maschf Bernhard Vorrichtung zum be- und entladen von waggons o.dgl. mit stueckgut
CN106477349A (zh) * 2016-10-13 2017-03-08 蔡维德 用于卸纸箱包装货物的自动卸车设备
CN207312692U (zh) * 2017-09-02 2018-05-04 贵州耀泰物流有限责任公司 一种物流运输装卸装置
CN209582812U (zh) * 2019-02-27 2019-11-05 山东新北洋信息技术股份有限公司 一种货物装卸装置
CN112278911A (zh) * 2020-08-03 2021-01-29 北京京东乾石科技有限公司 装卸货设备以及装卸货系统

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5354046Y2 (zh) * 1974-08-30 1978-12-23
US4295560A (en) * 1978-10-10 1981-10-20 Billy J. Cross Material handling apparatus
JPS5931224A (ja) * 1982-08-10 1984-02-20 Shin Meiwa Ind Co Ltd 荷役装置
DK1879822T3 (da) * 2005-05-02 2013-05-27 Univeyor As System til aflæsning eller pålæsning af stykgods
CN201785036U (zh) * 2010-07-28 2011-04-06 西安轨道交通装备有限责任公司 一种伸缩式悬臂罐体传送装置
CN203006509U (zh) * 2012-12-27 2013-06-19 广西大学 大工作空间码垛机器人
CN204450530U (zh) * 2015-01-27 2015-07-08 浙江理工大学 一种具有五自由度的码垛机械臂
CN205312688U (zh) * 2016-01-11 2016-06-15 襄阳忠良工程机械有限责任公司 变向输送移动式装卸机
CN106044224A (zh) * 2016-06-27 2016-10-26 浙江飞越洁具制造有限公司 一种玻璃吸盘滑动装置
CA3042014A1 (en) * 2016-10-27 2018-05-03 Bastian Solutions, Llc Automated unloading and loading robot system
CN207090561U (zh) * 2017-08-01 2018-03-13 长沙民政职业技术学院 助力装卸车
WO2019213900A1 (zh) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 一种货物装卸车、货物转运系统及其自动调平方法
CN209601512U (zh) * 2019-02-25 2019-11-08 深圳市精鸿艺电路有限公司 一种电路板自动上料装置
WO2020243749A1 (en) * 2019-05-31 2020-12-03 Bastian Solutions, Llc Automated unloading and loading robot system with telescoping mast and z-axis control

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2520565A1 (de) * 1975-05-09 1976-11-18 Beumer Maschf Bernhard Vorrichtung zum be- und entladen von waggons o.dgl. mit stueckgut
CN106477349A (zh) * 2016-10-13 2017-03-08 蔡维德 用于卸纸箱包装货物的自动卸车设备
CN207312692U (zh) * 2017-09-02 2018-05-04 贵州耀泰物流有限责任公司 一种物流运输装卸装置
CN209582812U (zh) * 2019-02-27 2019-11-05 山东新北洋信息技术股份有限公司 一种货物装卸装置
CN112278911A (zh) * 2020-08-03 2021-01-29 北京京东乾石科技有限公司 装卸货设备以及装卸货系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4169858A4 *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114834917A (zh) * 2022-06-10 2022-08-02 武汉利德测控技术有限公司 一种物料卸料系统
CN114834917B (zh) * 2022-06-10 2024-01-23 武汉利德测控技术有限公司 一种物料卸料系统
US12312188B2 (en) 2023-01-09 2025-05-27 Tata Consultancy Services Limited Apparatus for organized loading, and unloading of objects
CN116062469A (zh) * 2023-03-02 2023-05-05 上海摩符供应链科技有限公司 一种全自动智能装卸工业机器人装置
CN116281014A (zh) * 2023-05-24 2023-06-23 厦门艾科曼智能装备有限公司 一种自动装卸系统和自动装卸方法
CN116788872A (zh) * 2023-06-28 2023-09-22 中储恒科物联网系统有限公司 一种适用于火车货运袋装物料的全自动装卸机
CN116788873A (zh) * 2023-06-28 2023-09-22 中储恒科物联网系统有限公司 一种适用于箱式货运袋装物料的自动化卸车机
CN116788872B (zh) * 2023-06-28 2023-12-26 中储恒科物联网系统有限公司 一种适用于火车货运袋装物料的全自动装卸机
CN116788873B (zh) * 2023-06-28 2024-01-05 中储恒科物联网系统有限公司 一种适用于箱式货运袋装物料的自动化卸车机

Also Published As

Publication number Publication date
JP2023535863A (ja) 2023-08-22
EP4169858A4 (en) 2024-08-21
EP4169858A1 (en) 2023-04-26
JP7723690B2 (ja) 2025-08-14
CN112278911A (zh) 2021-01-29
CN112278911B (zh) 2023-05-02
US20240253916A1 (en) 2024-08-01

Similar Documents

Publication Publication Date Title
CN112278911B (zh) 装卸货设备以及装卸货系统
JP7710998B2 (ja) 伸縮マストおよびｚ軸制御を備えた自動荷降ろし・荷積みロボットシステム
CN114572719B (zh) 柔性自动装卸车机器人系统及方法
CN114426211B (zh) 一种箱装货物自动装卸机器人
CN217076301U (zh) 一种多规格箱式货物装卸车机器人
CN105692251A (zh) 物品自动装车系统
CN110382382A (zh) 自动卸载和装载机器人系统
CN212558291U (zh) 对接系统以及生产线
CN110654804A (zh) 一种物流机器人自动装卸系统
KR102490492B1 (ko) 자동 화물 운반장치
CN212981789U (zh) 可移动式机械手码垛装车机
CN108791572A (zh) 一种物流机器人
CN205555541U (zh) 码垛、拆垛机器人
CN219136289U (zh) 货叉组件及仓储机器人
US9216884B2 (en) Narrow aisle load handler and material handling vehicle including a narrow aisle load handler
CN121651138A (zh) 叉臂式整车装车机器人
CN217050085U (zh) 货物装卸装置、货物输送设备和仓储系统
CN116620889B (zh) 一种装车机及装车系统
CN221758891U (zh) 一种集装箱智能卸货机器人
CN116902598B (zh) 一种货物姿态调整的装卸机构及装卸方法
CN219668365U (zh) 一种物流搬运机器人
CN218144219U (zh) 导向组件、提升机及输送线系统
CN220222766U (zh) 一种装车机及装车系统
TW202319315A (zh) 物料箱轉運系統
CN221894207U (zh) 一种装卸一体机及装卸系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21852937

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022574256

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 18007349

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2021852937

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2021852937

Country of ref document: EP

Effective date: 20230303